Publication Details

Exploration and Traversable Area Marking for the VisualSLAM

ROZMAN, J. Exploration and Traversable Area Marking for the VisualSLAM. Information Sciences and Technologies Bulletin of the ACM Slovakia, 2012, vol. 4, no. 1, p. 29-38. ISSN: 1338-1237.
Czech title
Objevování a vyznačování průjezdné trasy pro VisualSLAM
Type
journal article
Language
English
Authors
Rozman Jaroslav, Ing., Ph.D. (DITS)
URL
Keywords

robotics, path planning, stereocamera, target selection

Abstract

This paper deals with the exploration strategy for a robot during exploration and 3D map building in an unknown environment. The mapping algorithm detects the sig- nificant features, finds correspondences in both images, matches them together and computes their 3D coordi- nates. This way the robot incrementally creates a 3D map of its surroundings and it tries to explore as much area as possible. The first part of this paper describes the way of marking the traversable path in the map created so far. In the second part the goal point selection and the path planning to this goal point are described. As the map uses points and triangles to represent the shape of the surface, the traversable area marking and the path planning is also done in the map which is represented in the same way.

Published
2012
Pages
29–38
Journal
Information Sciences and Technologies Bulletin of the ACM Slovakia, vol. 4, no. 1, ISSN 1338-1237
Book
Information Sciences and Technologies Bulletin of the ACM Slovakia
BibTeX 
@article{BUT91510,
  author="Jaroslav {Rozman}",
  title="Exploration and Traversable Area Marking for the VisualSLAM",
  journal="Information Sciences and Technologies Bulletin of the ACM Slovakia",
  year="2012",
  volume="4",
  number="1",
  pages="29--38",
  issn="1338-1237",
  url="http://acmbulletin.fiit.stuba.sk/vol4num1/vol4num1.pdf"
}
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