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Visual 3D Exploration

Prof. Dr. Dietrich Paulus, University of Koblenz-Landau

Date: 01/04/2011
Time: 14:15-15:45
Room: H-F 114

Robots must prove their skills for autonomous exploration of the environment in several leagues in RoboCup. In the @home-league the environment is made like a living room. In the rescue-league the robots search for victims in collapsed buildings. Both challenges will be described in short. The exploration of an unknown environment is possible by sensors that capture data from varying positions. This results in a map where the robot marks its own position. As location and environment are unknown, this sounds like a chicken-and-egg problem known as SLAM. For the 2D case this is considered to be solved. For 3D sensors and maps this is subject of current research. We discuss map data structures and how they can be filled with data from images and laser sensors. We shortly discuss measuring techniques as well as sensor fusion. Several measurement systems are commercially available. We show their principles and possible use by examples.