3D Navigation for a Mobile Robot

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216208%3A11320%2F17%3A10372043" target="_blank" >RIV/00216208:11320/17:10372043 - isvavai.cz</a>

Result on the web

<a href="http://dx.doi.org/10.1007/978-3-319-70836-2_29" target="_blank" >http://dx.doi.org/10.1007/978-3-319-70836-2_29</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1007/978-3-319-70836-2_29" target="_blank" >10.1007/978-3-319-70836-2_29</a>

Result language

angličtina

Original language name

3D Navigation for a Mobile Robot

Original language description

We propose a novel 3D navigation system for autonomous vehicle path-planning. The system processes a point-cloud data from an RGB-D camera and creates a 3D occupancy grid with adaptable cell size. Occupied grid cells contain normal distribution characterizing the data measured in the area of the cell. The normal distributions are then used for cell classification, traversability, and collision checking. The space of traversable cells is used for path-planning. The ability to work in three-dimensional space allows autonomous robots to operate in highly structured environments with multiple levels, uneven surfaces, and various elevated and underground crossings. That is important for the usage of robots in real-world scenarios such as in urban areas and for disaster rescue missions.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/GA15-19877S" target="_blank" >GA15-19877S: Automated Knowledge and Plan Modeling for Autonomous Robots</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2017

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Proceedings of Third Iberian Robotics Conference (ROBOT 2017)

ISBN

978-3-319-70835-5

ISSN

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e-ISSN

neuvedeno

Number of pages

12

Pages from-to

345-356

Publisher name

Springer, Cham

Place of publication

Berlin

Event location

Sevilla, Spain

Event date

Nov 22, 2017

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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