A novel 3D sensory system for robot-assisted mapping of cluttered urban search and rescue environments

  • Authors:

  • Zhe Zhang;Goldie Nejat;Hong Guo;Peisen Huang

  • Affiliations:

  • Autonomous Systems Laboratory, Department of Mechanical Engineering, The State University of New York at Stony Brook, Stony Brook, USA 11794-2300;Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Canada M5S 3G8 and Department of Mechanical Engineering, The State University of New York at Stony Brook, Stony ...;Department of Mechanical Engineering, The State University of New York at Stony Brook, Stony Brook, USA 11794-2300;Department of Mechanical Engineering, The State University of New York at Stony Brook, Stony Brook, USA 11794-2300

  • Venue:
  • Intelligent Service Robotics
  • Year:
  • 2011

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Abstract

In this paper, the first application of utilizing a unique 3D sensor for sequential 3D map building in unknown cluttered urban search and rescue (USAR) environments is proposed. The sensor utilizes a digital fringe projection and phase shifting technique to provide real-time 2D and 3D sensory information of the environment. The proposed sensor is unique over current technologies in that high-resolution 3D information of rubble filled environments can be acquired from the single sensor at a speed of 30 frames per second (fps). Furthermore, we propose the development of a novel robust and reliable landmark identification technique that utilizes both 2D and 3D depth images taken by the sensor for 3D mapping. Preliminary experiments show the potential of the real-time 3D sensory system and landmark identification scheme for robotic 3D mapping in unknown cluttered USAR-like environments.