Efficient 3D mapping for mobile robots
Our work on efficient 3D mapping for mobile robots has been published in the Autonomous Robots Journal. Whereas most current navigation algorithms in mobile robotics produce 2D maps from data provided by 2D sensors, we have developed a novel algorithm for efficiently constructing 3D maps. Using this technique we mapped a 200 square meter office environment in 3D at 0.02m resolution and demonstrated that a robotic vehicle with only a 2GHz processor and no prior knowledge of its position could locate itself within 5 seconds.
Isometric view of the map generated from scanning data in an office environment.
Julian Ryde and Huosheng Hu. "3D mapping with multi-resolution occupied voxel lists." Autonomous Robotics Journal, Sep 2009
The paper is available here.
Read more about our research in mapping and localisation.
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