Publication detail

Exploration and Traversable Area Marking for the VisualSLAM

ROZMAN, J.

Original Title

Exploration and Traversable Area Marking for the VisualSLAM

Type

journal article - other

Language

English

Original Abstract

This paper deals with the exploration strategy for a robot during exploration and 3D map building in an unknown environment. The mapping algorithm detects the sig- nificant features, finds correspondences in both images, matches them together and computes their 3D coordi- nates. This way the robot incrementally creates a 3D map of its surroundings and it tries to explore as much area as possible. The first part of this paper describes the way of marking the traversable path in the map created so far. In the second part the goal point selection and the path planning to this goal point are described. As the map uses points and triangles to represent the shape of the surface, the traversable area marking and the path planning is also done in the map which is represented in the same way.

Keywords

robotics, path planning, stereocamera, target selection

Authors

ROZMAN, J.

RIV year

2012

Released

1. 5. 2012

ISBN

1338-1237

Periodical

Information Sciences and Technologies Bulletin of the ACM Slovakia

Year of study

4

Number

1

State

Slovak Republic

Pages from

29

Pages to

38

Pages count

10

URL

http://acmbulletin.fiit.stuba.sk/vol4num1/vol4num1.pdf

BibTex

@article{BUT91510,
  author="Jaroslav {Rozman}",
  title="Exploration and Traversable Area Marking for the VisualSLAM",
  journal="Information Sciences and Technologies Bulletin of the ACM Slovakia",
  year="2012",
  volume="4",
  number="1",
  pages="29--38",
  issn="1338-1237",
  url="http://acmbulletin.fiit.stuba.sk/vol4num1/vol4num1.pdf"
}