3D mapping with semantic knowledge

Authors:
Andreas Nüchter;Oliver Wulf;Kai Lingemann;Joachim Hertzberg;Bernardo Wagner;Hartmut Surmann
Affiliations:
Institute for Computer Science, Knowledge-Based Systems Research Group, University of Osnabrück, Osnabrück, Germany;Institute for Systems Engineering (ISE/RTS), University of Hannover, Hannover, Germany;Institute for Computer Science, Knowledge-Based Systems Research Group, University of Osnabrück, Osnabrück, Germany;Institute for Computer Science, Knowledge-Based Systems Research Group, University of Osnabrück, Osnabrück, Germany;Institute for Systems Engineering (ISE/RTS), University of Hannover, Hannover, Germany;Fraunhofer Institute for Autonomous Intelligent Systems (AIS), Sankt Augustin, Germany
Venue:
RoboCup 2005
Year:
2006

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Abstract

A basic task of rescue robot systems is mapping of the environment. Localizing injured persons, guiding rescue workers and excavation equipment requires a precise 3D map of the environment. This paper presents a new 3D laser range finder and novel scan matching method for the robot Kurt3D [9]. Compared to previous machinery [12], the apex angle is enlarged to 360°. The matching is based on semantic information. Surface attributes are extracted and incorporated in a forest of search trees in order to associate the data, i.e., to establish correspondences. The new approach results in advances in speed and reliability.