Accession Number:

ADA443608

Title:

Exploring Unknown Structured Environments

Descriptive Note:

Corporate Author:

GEORGIA INST OF TECH ATLANTA COLL OF COMPUTING

Report Date:

2001-01-01

Pagination or Media Count:

6.0

Abstract:

This paper presents perceptual algorithms for corridor navigation, door detection and entry that can be used for exploration of an unknown floor of a building. The algorithms are fairly robust to sensor noise, do not use odometric data, and can be implemented on a low end PC. The primary sensor used is a laser range scanner. Their technique relies on constraint-based search to align a current laser frame with a map built from previous laser scans. The alignment of range scans is computationally expensive and can be unnecessary when navigating in a structured environment.

Subject Categories:

  • Cybernetics
  • Miscellaneous Detection and Detectors

Distribution Statement:

APPROVED FOR PUBLIC RELEASE