Cellular neural networks in 3D laser data segmentation

Authors:
Michal Gnatowski;Barbara Siemiatkowska;Rafał Chojecki
Affiliations:
Institute of Fundamental Technological Research, Polish Academy of Sciences and Institute of Automatic Control and Robotics, Warsaw University of Technology, Warsaw, Poland;Institute of Fundamental Technological Research, Polish Academy of Sciences and Institute of Automatic Control and Robotics, Warsaw University of Technology, Warsaw, Poland;Institute of Fundamental Technological Research, Polish Academy of Sciences and Institute of Automatic Control and Robotics, Warsaw University of Technology, Warsaw, Poland
Venue:
NN'08 Proceedings of the 9th WSEAS International Conference on Neural Networks
Year:
2008

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Abstract

In this paper, we consider the problem of 3D maps building based on the laser 3D. The map of the environment is represented as a 2D array. Each cell represents rectangular region of the scene and consists of a list of objects. The main advantages of the system are real-time map building, low memory consumption and accuracy. We show that the system works properly in real indoor environment but it can be extended in order to built the map of unstructured environment.