Exploring Unknown Structured Environments
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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.
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