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Simultaneous 2D Localization and 3D Mapping on a mobile Robot with Time-of-Flight Sensors

Eck, Maximilian (2013) Simultaneous 2D Localization and 3D Mapping on a mobile Robot with Time-of-Flight Sensors. Master's. DLR-Interner Bericht. DLR-IB 572-2013/19, 68 S.

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The problem of building consistent maps of unknown environments is one greatest importance within the mobile robot community. Since the first successful attempts, the variety of solutions has grown larger. One of the most famous approaches, namely the use of a Rao-Blackwellized Particle Filter(RBPF), was introduced by Murphy et al. It relies on sampling from the distribution over robot poses and map parameters. Amongst the large number of succeeding publications, a couple of them teamed the RBPF with some scan matching procedure. Acting on that idea, this thesis describes an algorithm, which is based upon the combination of the RBPF and a form of the Iterative Closest Point(ICP) algorithm. In different way from most established methods, this procedure manages with a much smaller number of samples. It aims to calculate a 3D grid-based map of environments with planar floors, using Time-of-Flight cameras. This kind of sensors allows to extract 3 dimensional information of the environment efficiently, measuring ranges to obstacles. The robustness of the resulting algorithm was proved by virtual experimental mapping of a laboratory, using an “omniRob” platform.

Item URL in elib:https://elib.dlr.de/86309/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Simultaneous 2D Localization and 3D Mapping on a mobile Robot with Time-of-Flight Sensors
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Date:October 2013
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:68
Keywords:Slam, Simultaneous Localization and Mapping, Scan Matching, Mobile Robotics, Robotics,
Institution:University of Applied Sciences Koblenz
Department:RheinAhrCampus Remagen
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Rink, Christian
Deposited On:17 Dec 2013 13:54
Last Modified:31 Jul 2019 19:43

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