Exploring Unknown Structured Environments

Abstract

This paper presents perceptual algorithms for corridor navigation, door detection and entry that can be used for exploration of an unknown floor of a building. The algorithms are fairly robust to sensor noise, do not use odometric data, and can be implemented on a low end PC. The primary sensor used is a laser range scanner. Their technique relies on constraint-based search to align a current laser frame with a map built from previous laser scans. The alignment of range scans is computationally expensive and can be unnecessary when navigating in a structured environment.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2001
Accession Number
ADA443608

Entities

People

  • Alexander Stoytchev
  • Jonathan F. Diaz
  • Ronald C. Arkin

Organizations

  • Georgia Tech

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Autonomous Navigation
  • Biohazards
  • Cartesian Coordinates
  • Computations
  • Coordinate Systems
  • Detection
  • Detectors
  • Environment
  • Hazardous Materials
  • Histograms
  • Materials
  • Navigation
  • Orientation (Direction)
  • Robotics
  • Robots

Readers

  • Computer Vision.
  • Database Systems and Applications

Technology Areas

  • Directed Energy