Wall Sensing for an Autonomous Robot With a Three-Dimensional Time-of-Flight (3-D TOF) Camera
Final rept. Jan-Oct 2010
ARMY RESEARCH LAB ABERDEEN PROVING GROUND MD VEHICLE TECHNOLOGY DIRECTORATE
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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.