Parallel and Cached Scan Matching for Robotic 3D Mapping

N�chter, Andreas
March 2009
Journal of Computing & Information Technology;Mar2009, Vol. 17 Issue 1, p51
Academic Journal
Intelligent autonomous acting of mobile robots in unstructured environments requires 3Dmaps. Since manual mapping is a tedious job, automatization of this job is necessary. Automatic, consistent volumetric modeling of environments requires a solution to the simultaneous localization and map building problem (SLAM problem). In 3D this task is computationally expensive, since the environments are sampled with many data points with state of the art sensing technology. In addition, the solution space grows exponentially with the additional degrees of freedom needed to represent the robot pose. Mapping environments in 3D must regard six degrees of freedom to characterize the robot pose. This paper summarizes our 6D SLAM algorithm and presents novel algorithmic and technical means to reduce computation time, i.e., the data structure cached k-d tree and parallelization. The availability of multi-core processors as well as efficient programming schemes as OpenMP permit the parallel execution of robotics tasks.


Related Articles

  • Object Search and Localization for an Indoor Mobile Robot. Sj�, Kristoffer; L�pez, Dorian G�lvez; Paul, Chandana; Jensfelt, Patric; Kragic, Danica // Journal of Computing & Information Technology;Mar2009, Vol. 17 Issue 1, p67 

    In this paper we present a method for search and localization of objects with a mobile robot using a monocular camera with zoom capabilities. We show how to overcome the limitations of low resolution images in object recognition by utilizing a combination of an attention mechanism and zooming as...

  • Redefining robot intelligence. Kren, Lawrence // Machine Design;8/07/2003, Vol. 75 Issue 15, p40 

    Focuses on the effort of researchers at Georgia Tech's College of Computing Mobile Robot Laboratory to develop robots that could search through rooms for biological hazards and find, intercept and destroy a moving enemy tank on the battlefield. Goal of the researchers in creating robot...

  • The AAAI 2006 Mobile Robot Competition and Exhibition. Rybski, Paul E.; Forbes, Jeffrey; Burhans, Debra; Dodds, Zach; Oh, Paul; Scheutz, Matthias; Avanzato, Bob // AI Magazine;Summer2007, Vol. 28 Issue 2, p101 

    The Fifteenth Annual AAAI Robot Competition and Exhibition was held at the National Conference on Artificial Intelligence in Boston, Massachusetts, in July 2006. This article describes the events that were held at the conference, including the Scavenger Hunt, HumanRobot Interaction, and Robot...

  • Interval Formulation of the Diagnostic Problem for Bilinear Automaton. Samoilov, V. G.; Speranskii, D. V. // Automation & Remote Control;Sep2004, Vol. 65 Issue 9, p1461 

    Proposed was an evolutionary calculation-based method of solving the diagnostic problem for bilinear automata as formulated in interval terms. Its application was illustrated by an example. The method was shown to be suitable for handling the classical diagnostic problem for the bilinear automata.

  • Neural network parallel force/position control of robot manipulators under environment and robot dynamics uncertainties. Ferguene, Farid; Achour, Nouara; Toumi, Redouane // Archives of Control Sciences;Mar2009, Vol. 19 Issue 1, p93 

    The performance of a parallel force/position controller for robot force tracking is affected by the uncertainties in both the robot dynamics and the environment stiffness. This paper aims to improve the controller's robustness by applying the neural network (NN) technique to compensate for the...

  • Fuzzy Target Tracking and Obstacle Avoidance of Mobile Robots with a Stereo Vision System. Chan-Hong Chao; Bo-Yan Hsueh; Ming-Ying Hsiao; Shun-Hung Tsai; Li, Tzuu-Hseng S. // International Journal of Fuzzy Systems;Sep2009, Vol. 11 Issue 3, p183 

    In this paper, a two-level hierarchical intelligent control system is developed on a mobile robot to deal with target tracking and obstacle avoidance tasks. A stereo vision subsystem is first introduced. It can perceive video information in the environment to locate objects, including locating...

  • Neuro-Fuzzy Rule Generation for Backing up Navigation of Car-like Mobile Robots. Jin-Il Park; Jae-Hoon Cho; Myung-Geun Chun; Chang-Kyu Song // International Journal of Fuzzy Systems;Sep2009, Vol. 11 Issue 3, p192 

    An automatic neuro-fuzzy rule generation scheme is proposed for backing up navigation of car- like mobile robots. The proposed method is based on the Conditional Fuzzy C-Means (CFCM) and Fuzzy Equalization (FE) methods. The CFCM is adopted to render clusters, which can represent the homogeneous...

  • Mobile Robot Navigation Based on Artificial Landmarks with Machine Vision System. Dmitriy Aleksandrovich, Yudin; Grigoriy Gennadievich, Postolsky; Alexander Stepanovich, Kizhuk; Valeriy Zalmanovich, Magergut // World Applied Sciences Journal;2013, Vol. 24 Issue 11, p1467 

    The paper describes machine vision system (MVS) developed by authors, which identifies artificial landmarks on images from a video camera with pan-tilt mechanism and allows to calculate the deviation of the robot from the set course. Lines limiting robot track and tags in the form of...

  • Hybrid Kalman Filter/Fuzzy Logic based Position Control of Autonomous Mobile Robot. Choomuang, Rerngwut; Afzulpurkar, Nitin // International Journal of Advanced Robotic Systems;Sep2005, Vol. 2 Issue 3, p197 

    This paper describes position control of autonomous mobile robot using combination of Kalman filter and Fuzzy logic techniques. Both techniques have been used to fuse information from internal and external sensors to navigate a typical mobile robot in an unknown environment. An obstacle...


Read the Article


Sorry, but this item is not currently available from your library.

Try another library?
Sign out of this library

Other Topics