Mapeamento de ambientes estruturados com extração de informações geométricas através de dados sensoriais

AUTOR(ES)
DATA DE PUBLICAÇÃO

2006

RESUMO

The objective of this thesis is proposes a method for a mobile robot to build a hybrid map of an indoor, semi-structured environment. The topological part of this map deals with spatial relationships among rooms and corridors. It is a topology-based map, where the edges of the graph are rooms or corridors, and each link between two distinct edges represents a door. The metric part of the map consists in a set of parameters. These parameters describe a geometric figure which adapts to the free space of the local environment. This figure is calculated by a set of points which sample the boundaries of the local free space. These points are obtained with range sensors and with knowledge about the robots pose. A method based on generalized Hough transform is applied to this set of points in order to obtain the geomtric figure. The building of the hybrid map is an incremental procedure. It is accomplished while the robot explores the environment. Each room is associated with a metric local map and, consequently, with an edge of the topo-logical map. During the mapping procedure, the robot may use recent metric information of the environment to improve its global or relative pose

ASSUNTO(S)

graphs transformada generalizada de hough   grafo engenharia eletrica hybrid maps generalized hough transform robô móvel slam mapas híbridos imultaneous localization and mapping mobile robot s

ACESSO AO ARTIGO

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