Accession Number:

ADA539897

Title:

Wall Sensing for an Autonomous Robot With a Three-Dimensional Time-of-Flight (3-D TOF) Camera

Descriptive Note:

Final rept. Jan-Oct 2010

Corporate Author:

ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD VEHICLE TECHNOLOGY DIRECTORATE

Personal Author(s):

Report Date:

2011-02-01

Pagination or Media Count:

30.0

Abstract:

This report describes recent work in the field of robotic perception research. The objectives of this research are to 1 program a computer to extract geometric planes characteristic of architectural walls in data from a three-dimensional time-of-flight camera, 2 track the planes through a stream of such data as the camera moved slowly through a plane-rich environment, and 3 serve plane descriptors to processes that desire such service. The programs were implemented at a high level using tools from the open-source Robot Operating System ROS. Tests performed in simple and complex indoor environments demonstrated the ability to identify and track planes. Postprocessing was performed using a separate process within the ROS environment that receives updated planar information. Preliminary results are presented for dynamic scenes, though sensor motion estimates are necessary to properly quantify results.

Subject Categories:

  • Cybernetics
  • Bionics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE