Cooperative 3D and 2D mapping with heterogenous ground robots

John G. Rogers III; David Baran; Ethan Stump; Stuart Young; Henrik I. Christensen

doi:10.1117/12.919270

15 May 2012 Cooperative 3D and 2D mapping with heterogenous ground robots

John G. Rogers III, David Baran, Ethan Stump, Stuart Young, Henrik I. Christensen

Proceedings Volume 8387, Unmanned Systems Technology XIV; 838708 (2012) https://doi.org/10.1117/12.919270
Event: SPIE Defense, Security, and Sensing, 2012, Baltimore, Maryland, United States

Abstract

Efficient and accurate 3D mapping is desirable in disaster recovery as well as urban warfare situations. The speed with which these maps can be generated is vital to provide situational awareness in these situations. A team of mobile robots can work together to build maps more quickly. We present an algorithm by which a team of mobile robots can merge 2D and 3D measurements to build a 3D map, together with experiments performed at a military test facility.

Citation Download Citation

John G. Rogers III, David Baran, Ethan Stump, Stuart Young, and Henrik I. Christensen "Cooperative 3D and 2D mapping with heterogenous ground robots", Proc. SPIE 8387, Unmanned Systems Technology XIV, 838708 (15 May 2012); https://doi.org/10.1117/12.919270

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