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3D Scan-based Navigation using Multi-Level Surface Maps
Örebro University, School of Science and Technology.
2009 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The field of research connected to mobile robot navigation is much broader than the scope of this thesis. Hence in this report, the navigation topic is narrowed down to primarily concerning mapping and scan matching techniques that were used to achieve the overall task of navigation nature. Where the work presented within this report is based on an existing robot platform with technique for providing 3D point-clouds, as result of 3D scanning, and functionality for planning for and following a path. In this thesis it is presented how a scan matching algorithm is used for securing the alignment between provided succession point-clouds. Since the computational time of nearest neighbour search is a commonly discussed aspect of scan matching, suggestions about techniques for decreasing the computational time are also presented within this report. With secured alignment, the challenge was within representing provided point-clouds by a map model. Provided point-clouds were of 3D character, thus a mapping technique is presented that provides rough 3D representations of the environment. A problem that arose with a 3D map representation was that given functionality for path planning required a 2D representation. This is addressed by translating the 3D map at a specific height level into a 2D map usable for path planning, where this report suggest a novel traversability analysis approach with the use of a tree structure.

 

Place, publisher, year, edition, pages
2009. , 61 p.
Series
Studies from the Department of Technology at Örebro University, ISSN 1404-7225
National Category
Computer Science Engineering and Technology Computer and Information Science Software Engineering
Identifiers
URN: urn:nbn:se:oru:diva-11211ISRN: ORU-NAT/DAT-AS-2010/0003--SEOAI: oai:DiVA.org:oru-11211DiVA: diva2:317267
Presentation
(English)
Uppsok
Technology
Examiners
Available from: 2010-03-23 Created: 2010-03-11 Last updated: 2010-05-03Bibliographically approved

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fulltext(2378 kB)1650 downloads
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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf