Compact modeling technique for outdoor navigation

IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans

Volumn 38, Issue 1, 2008, Pages 9-24

  Castejón, Cristina ^a   Blanco, Dolores ^a   Moreno, Luis ^a  

^a UNIVERSIDAD CARLOS III DE MADRID   (Spain)

Author keywords

3 D scanner laser; Navigation map; Outdoor; Robot mapping; Traversability

Indexed keywords

MAPS; NAVIGATION; OPTICAL PROJECTORS; POWDERS; ROBOTICS; ROBOTS; SCANNING; THREE DIMENSIONAL; TIME VARYING SYSTEMS;

3-D SCANNER LASER; NAVIGATION MAP; OUTDOOR; ROBOT MAPPING; TRAVERSABILITY;

NAVIGATION CHARTS;

EID: 54949097416     PISSN: 10834427     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCA.2007.904786     Document Type: Article

References (39)

1. V. Fernández, C. Balaguer, D. Blanco, and M. A. Salichs, "Active human-mobile manipulator cooperation through intention recognition," in Proc. IEEE Int. Conf. Robot. Autom., Seoul, Korea, 2001, pp. 2668-2673.
2. M. Maurette, "Mars Rover autonomous navigation," Auton. Robots, vol. 14, no. 2/3, pp. 199-208, Mar.-May 2003.
3. D. Langer, J. K. Rosenblatt, and M. Hebert, "A behavior-based system for off-road navigation," IEEE Trans. Robot. Autom., vol. 10, no. 6, pp. 776-782, Dec. 1994.
4. A. Yahja, S. Singh, and A. Stentz, "An efficient on-line path planner for outdoor mobile robots," Robot. Auton. Syst., vol. 32, no. 2/3, pp. 129-143, Aug. 2000.
5. A. Elfes, "Occupancy grids: A stochastic spatial representation for active robot perception," in Proc. 6th Conf. Unvertaintu AI, 1990, pp. 60-70.
6. I. S. Kweon and T. Kanade, "High resolution terrain map from multiple sensor data," in Proc. IEEE Int. Workshop Intell. Robots Syst., 1990, pp. 127-134.
7. M. Macri, S. De, and M. S. Shepard, "Hierarchical tree-based discretization for the method of finite spheres," Comput. Struct. vol. 81, no. 8-11, pp. 789-803, May 2003.
8. J. Gomes-Mota and M. I. Ribeiro, "Mobile robot localization on reconstructed 3D models," Robot. Auton. Syst., vol. 31, no. 1/2, pp. 17-30, Apr. 2000.
9. D. Hähnel, W. Burgard, and S. Thrun, "Learning compact 3-D models of indoor and outdoor environments with a mobile robot," Robot. Auton. Syst., vol. 1, no. 44, pp. 15-27, 2003.
10. P. Ranganathan, J. B. Hayet, M. Devy, S. Hutchinson, and F. Lerasle, "Topological navigation and qualitative localization for indoor environment using multi-sensory perception," Robot. Auton. Syst., vol. 41, no. 2/3, pp. 137-144, Nov. 2002.
11. U. Nehmzow and C. Owen, "Robot navigation in the real world: Experiments with Manchester's 42 in unmodified, large environments," Robot. Auton. Syst., vol. 33, no. 4, pp. 223-242, Dec. 2000.
12. B. L. Boada, D. Palazon, D. Blanco, and L. Moreno, "Voronoi based place recognition using hidden Markov models," in Proc. 15th IFAC World Congr. Int. Fed. Autom. Control, 2002.
13. S. Thrun, "Learning metric-topological maps for indoor mobile robot navigation,"Artif. Intell., vol. 99, no. 1, pp. 21-71, Feb. 1998.
14. S. Betgé-Brezetz, R. Chatila, and M. Devi, "Natural scene understanding for mobile robot navigation," in Proc. IEEE Int. Conf. Robot. Autom., 1994, vol. 1, pp. 730-736.
15. S. Simon and G. Dudeck, "A global topological map formed by local metric maps," in Proc. Int. Conf. Intell. Robots Syst., Victoria, BC, Canada, 1998, pp. 1708-1714.
16. H. Choset, S. Walker, K. Eiamsa-Ard, and J. Burdick, "Sensor-based exploration: Incremental construction of the hierarchical generalized Voronoi graph," Int. J. Robot. Res., vol. 19, no. 2, pp. 126-148, Feb. 2000.
17. D. Blanco, B. L. Boada, L. Moreno, and M. A. Salichs, "Local mapping from on-line laser Voronoi extraction," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2000, pp. 103-108.
18. D. Blanco, B. L. Boada, C. Castejón, C. Balaguer, and L. E. Moreno, "Sensor-based path planning for a mobile manipulator guided by the humans," in Proc. 11th ICAR, 2003, vol. 1.
19. N. Vandapel, F. Hubert, A. Kapuria, and M. Hebert, "Natural terrain classification using 3-D ladar data," in Proc. IEEE Int. Conf. Robot. Autom., Apr. 26-May 1, 2004, vol. 5, pp. 5117-5122.
20. J. F. Lalonde, N. Vandapel, and M. Hebert, "Data structure for efficient processing in 3-D," in Robotics: Science and Systems, vol. 1. Cambridge, MA: MIT Press, Jun. 2005.
21. D. Langer, J. K. Rosenblatt, and M. Hebert, "An integrated system for autonomous off-road navigation," in Proc. IEEE Int. Conf. Robot. Autom., 1994, vol. 1, pp. 414-419.
22. H. Seraji, "Traversability index: A new concept for planetary rovers," in Proc. IEEE Int. Conf. Robot. Autom., 1999, pp. 2006-2013.
23. A. Howard and H. Seraji, "Real-time assessment of terrain traversability for autonomous rover navigation," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 2000, pp. 58-63.
24. A. Howard and H. Seraji, "Vision-based terrain characterization and traversability assessment," J. Robot. Syst., vol. 18, no. 10, pp. 577-587, 2001.
25. F. Nashashibi, M. Devy, and P. Fillatreau, "Indoor scene terrain modeling using multiple range images for autonomous mobile robots," in Proc. IEEE Int. Conf. Robot. Autom., 1992, vol. 1, pp. 40-46.
26. S. Betgé-Brezetz, "Modélisation Incrémentale et Localisation Pour la Navigation D'un Robot Mobile Autonome En Environnement Naturel," Ph.D. dissertation, Laboratoir d'analyse et d'architecture des systèmes du CNRS. Univ. Paul Sabatier de Toulouse, Toulouse, France, Ferier 1996.
27. S. B. Goldberg, M. W. Maimone, and L. Matthies, "Stereo vision and rover navigation software for planetary exploration," in Proc. IEEE Aerosp. Conf., 2002, pp. 2025-2036.
28. D. B. Gennery, "Traversability analysis and path planning for a planetary rover," Auton. Robots, vol. 6, no. 2, pp. 131-146, Apr. 1999.
29. H. Seraji, "Fuzzy traversability index: A new concept for terrain-based navigation," J. Robot. Syst., vol. 17, no. 2, pp. 75-91, 2000.
30. K. V. Mardia and P. E. Jupp, Directional Statistics, ser. Wiley Series in Probability and Statistics. Hoboken, NJ: Wiley, 1999.
31. C. Castejón, D. Blanco, B. L. Boada, and L. Moreno, "Traversability analysis technics in outdoor environments: A comparative study," in Proc. 11th ICAR, 2003.
32. C. Castejón, B. L. Boada, and L. Moreno, "Topographical analysis for Voronoi-based modelling," in Proc. 28th Annu. Conf. IEEE Ind. Electron. Soc., 2002, pp. 2548-2553.
33. J. C. Russ, The Image Processing Handbook, 2nd ed. Boca Raton, FL: CRC Press, 1994. EEUU.
34. H. Choset, "Sensor based motion planning: The hierarchical generalized Voronoi graph," Ph.D. dissertation, California Inst. Technol., Pasadena, Mar. 1996.
35. J.-C. Latombe, Robot Motion Planning. Boston, MA: Kluwer, 1991.
36. Y. D. Kwon and J. S. Lee, "A stochastic map building method for mobile robot using 2-D laser range finder," Auton. Robots, vol. 7, no. 2, pp. 187-200, Sep. 1999.
37. A. J. Davison and N. Kita, "Sequential localisation and map-building for real time computer vision and robotics," Robot. Auton. Syst., vol. 36, no. 4, pp. 171-183, Sep. 2001.
38. K. Nagatani and H. Choset, "Toward robust sensor based exploration by constructing reduced generalized Voronoi graph," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 1999, pp. 1678-1698.
39. C. Castejón, L. Moreno, and M. A. Salichs, "Traversability modelling in 3-D environments," in Proc. 3rd Int. Conf. FSR, Helsinki, Finland, Jun. 2001.