Efficient use of 3D environment models for mobile robot simulation and localization

Authors:
Andreu Corominas Murtra;Eduard Trulls;Josep M. Mirats Tur;Alberto Sanfeliu
Affiliations:
Institut de Robòtica i Informàtica Industrial, Barcelona, Spain;Institut de Robòtica i Informàtica Industrial, Barcelona, Spain;Institut de Robòtica i Informàtica Industrial, Barcelona, Spain;Institut de Robòtica i Informàtica Industrial, Barcelona, Spain
Venue:
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Year:
2010

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Abstract

This paper provides a detailed description of a set of algorithms to efficiently manipulate 3D geometric models to compute physical constraints and range observation models, data that is usually required in real-time mobile robotics or simulation. Our approach uses a standard file format to describe the environment and processes the model using the openGL library, a widely-used programming interface for 3D scene manipulation. The paper also presents results on a test model for benchmarking, and on a model of a real urban environment, where the algorithms have been effectively used for real-time localization in a large urban setting.