Building three dimensional maps based on cellular neural networks

Authors:
Michael Gnatowski;Barbara Siemiatkowska;Rafal Chojecki
Affiliations:
Institute of Fundamental Technological Research, Polish Academy of Sciences, Warsaw and Institute of Automatic Control and Robotics, Warsaw University of Technology, Warsaw, Poland;Institute of Fundamental Technological Research, Polish Academy of Sciences, Warsaw and Institute of Automatic Control and Robotics, Warsaw University of Technology, Warsaw, Poland;Institute of Fundamental Technological Research, Polish Academy of Sciences, Warsaw and Institute of Automatic Control and Robotics, Warsaw University of Technology, Warsaw, Poland
Venue:
WSEAS Transactions on Computers
Year:
2008

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Abstract

One of the main problem in robotics is map building. In the article 3D map building based on 3D laser data is presented. The data is obtained from a SICK laser mounted on a rotating support what gives a 3D representation of the scene. The map is divided into cells and each cell represents a certain area of the scene and keeps a list of objects. This is a real-time system, which consumes little computer memory and works properly in indoor environment.