Tensor-voting-based navigation for robotic inspection of 3D surfaces using lidar point clouds

International Journal of Robotics Research

Volumn 31, Issue 12, 2012, Pages 1465-1488

  Stumm, E ^a,b   Breitenmoser, A ^a   Pomerleau, F ^a   Pradalier, C ^a   Siegwart, R ^a  

^a ETH ZURICH   (Switzerland)

^b LAAS CNRS   (France)

Author keywords

3D perception; autonomous climbing; environment modeling; path planning; robotic inspection

Indexed keywords

2-D SPACE; 3-D SPACE; 3D PERCEPTION; 3D SURFACE; AUTONOMOUS CLIMBING; CLIMBING ROBOTS; CONTROL SCHEMES; CONTROL SUBSYSTEMS; EFFICIENT PLANNING; ENVIRONMENT MODELING; EXPLICIT SURFACE; GRAPH-BASED; INDUSTRIAL INSPECTIONS; LOCAL SURFACES; PHYSICAL EXPERIMENTS; POINT CLOUD; ROBOT KINEMATICS; ROBOT NAVIGATION; ROBOTIC INSPECTION; SPARSE GRAPHS; STRUCTURAL CONSTRAINTS; STRUCTURAL INFORMATION; TENSOR VOTING; TRAJECTORY TRACKING;

GRAPHIC METHODS; ITERATIVE METHODS; MOTION PLANNING; NAVIGATION SYSTEMS; OPTICAL RADAR; ROBOT PROGRAMMING; ROBOTS; TENSORS; THREE DIMENSIONAL COMPUTER GRAPHICS;

TWO DIMENSIONAL;

EID: 84870398251     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364912461537     Document Type: Article

References (38)

1. Carsten J, Ferguson D, Stentz A. 3D field D*: Improved path planning and replanning in three dimensions. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; 2006 ; 2006. 3381.
2. Englot B, Hover F. Planning complex inspection tasks using redundant roadmaps. Proceedings of the 15th International Symposium of Robotics Research (ISRR) ; 2011 ; 2011..
3. Ferguson D, Stentz A. Using interpolation to improve path planning: The field D* algorithm. Journal of Field Robotics. 2006 ; 23: 79-101
4. Furgale PT, Barfoot TD. Visual path following on a manifold in unstructured three-dimensional terrain. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) ; 2010 ; 2010. 534.
5. Gingras D, Lamarche T, Bedwani J-L, Dupuis E. Rough terrain reconstruction for rover motion planning. Proceedings of the Canadian Conference on Computer and Robot Vision (CRV) ; 2010 ; 2010. 191.
6. Hart PE, Nilsson NJ, Raphael B. A formal basis for the heuristic determination of minimum cost paths. IEEE Transactions on Systems Science and Cybernetics. 1968 ; 4: 100-107
7. Hebert M, Caillas C, Krotkov E, Kweon I, Kanade T. Terrain mapping for a roving planetary explorer. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) ; 1989 ; 1989. 997.
8. Howard TM, Kelly A. Optimal rough terrain trajectory generation for wheeled mobile robots. The International Journal of Robotics Research. 2007 ; 26: 141-166
9. Kazhdan M, Bolitho M, Hoppe H. Poisson surface reconstruction. Proceedings of the Fourth Eurographics Symposium on Geometry processing ; 2006 ; 2006. 61.
10. Kimmel R, Sethian JA. Computing geodesic paths on manifolds. Proceedings of the National Academy of Sciences of the USA. 1998 ; 95: 8431-8435
11. KingBJ (2008) Range Data Analysis by Free-space Modeling and Tensor Voting. Ph.D. thesis, Rensselaer Polytechnic Institute.
12. Kneip L, Tâche F, Caprari G, Siegwart R. Characterization of the compact Hokuyo URG-04LX 2D laser range scanner. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) ; 2009 ; 2009. 1447.
13. Koenig S, Likhachev M. Improved fast replanning for robot navigation in unknown terrain. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) ; 2002 ; 2002. 968.
14. LaValle SM Planning Algorithms. Cambridge: Cambridge University Press ; 2006 :
15. Marton ZC, Rusu RB, Beetz M. On fast surface reconstruction methods for large and noisy datasets. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) ; 2009 ; 2009. 3218.
16. Medioni G, Lee M-S, Tang C-K A Computational Framework for Segmentation and Grouping. Amsterdam: Elsevier Science B.V ; 2000 :
17. Medioni G, Mordohai P Emerging Topics in Computer Vision. Medioni G Kang SB, ed. Englewood Cliffs, NJ: Prentice-Hall ; 2004: 191-253.
18. Mordohai P, Medioni G Dimensionality Estimation and Manifold Learning using Tensor Voting. Institute for Robotics and Intelligent Systems, University of Southern California ; 2005 :
19. Nash A, Koenig S, Tovey CA. Lazy theta*: Any-angle path planning and path length analysis in 3D. Proceedings of the AAAI Conference on Artificial Intelligence (AAAI) ; 2010 ; 2010..
20. Pauly M, Gross M, Kobbelt LP. Efficient simplification of point-sampled surfaces. Proceedings of the Conference on Visualization (VIS) ; 2002 ; 2002. 163.
21. Pivtoraiko M, Kelly A. Efficient constrained path planning via search in state lattices. Proceedings of the 8th International Symposium on Artificial Intelligence, Robotics and Automation in Space ; 2005 ; 2005..
22. Pomerleau F, Breitenmoser A, Liu M, Colas F, Siegwart R. Noise characterization of depth sensors for surface inspections. Proceedings of the International Conference on Applied Robotics for Power Industry (CARPI) ; 2012 ; 2012..
23. Quigley M, Conley K, Gerkey BP, et al. ROS: an open-source robot operating system. ICRA Workshop on Open Source Software ; 2009 ; 2009..
24. Samson C, Ait-Abderrahim K. Feedback control of a nonholonomic wheeled cart in cartesian space. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) ; 1991 ; 1991. 1136.
25. Schnabel R, Wahl R, Klein R. Efficient RANSAC for point-cloud shape detection. Computer Graphics Forum. 2007 ; 26: 214-226
26. Singh S, Kelly A. Robot planning in the space of feasible actions: Two examples. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) ; 1996 ; 1996. 3309.
27. Smith M, Posner I, Newman P. Efficient non-parametric surface representations using active sampling for push broom laser data. Proceedings of Robotics: Science and Systems. 2010 ;:
28. Surazhsky V, Surazhsky T, Kirsanov D, Gortler SJ, Hoppe H. Fast exact and approximate geodesics on meshes. ACM SIGGRAPH. 2005 ;: 553-560
29. Tâche F, Fischer W, Caprari G, Siegwart R, Moser R, Mondada F. Magnebike: A magnetic wheeled robot with high mobility for inspecting complex-shaped structures. Journal of Field Robotics. 2009 ; 26: 453-476
30. Tâche F, Pomerleau F, Caprari G, Siegwart R, Bosse M, Moser R. Three-dimensional localization for the MagneBike inspection robot. Journal of Field Robotics. 2011 ; 28: 180-203
31. Tavakoli M, Faria R, Marques L, de Almeida AT. Autonomous mapping for inspection of 3D structures. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; 2011 ; 2011. 4277.
32. Thrun S, Martin C, Liu Y, et al. A real-time expectation-maximization algorithm for acquiring multiplanar maps of indoor environments with mobile robots. IEEE Transactions on Robotics and Automation. 2004 a ; 20: 433-443
33. Thrun S, Thayer S, Whittaker W, et al. Autonomous exploration and mapping of abandoned mines. IEEE Robotics and Automation Magazine. 2004 b ; 11 (4). 79-91
34. Triebel R, Pfaff P, Burgard W. Multi-level surface maps for outdoor terrain mapping and loop closing. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; 2006 ; 2006. 2276.
35. Vandapel N, Huber DF, Kapuria A, Hebert M. Natural terrain classification using 3-D ladar data. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) ; 2004 ; 2004. 5117.
36. Wettergreen D, Moreland SJ, Skonieczny K, Jonak D, Kohanbash D, Teza J. Design and field experimentation of a prototype lunar prospector. The International Journal of Robotics Research. 2010 ; 29: 1550-1564
37. Wong U, Morris A, Lea C, et al. Comparative evaluation of range sensing technologies for underground void modeling. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; 2011 ; 2011. 3816.
38. Wurm KM, Hornung A, Bennewitz M, Stachniss C, Burgard W. OctoMap: A probabilistic, flexible, and compact 3D map representation for robotic systems. Proceedings of the ICRA 2010 Workshop on Best Practice in 3D Perception and Modeling for Mobile Manipulation ; 2010 ; 2010..