Publication
Efficient use of 3d environment models for mobile robot simulation and localization
Conference Article
Conference
International Conference on Simulation, Modelling, and Programming for Autonomous Robots (SIMPAR)
Edition
2nd
Pages
461-472
Doc link
http://dx.doi.org/10.1007/978-3-642-17319-6_42
File
Authors
Projects associated
Abstract
This paper provides a detailed description of a set of algorithms to efficiently manipulate 3D geometric models to compute physical constraints and range observation models, data that is usually required in real-time mobile robotics or simulation. Our approach uses a standard file format to describe the environment and processes the model using the openGL library, a widely-used programming interface for 3D scene manipulation. The paper also presents results on a test model for benchmarking, and on a model of a real urban environment, where the algorithms have been effectively used for real-time localization in a large urban setting.
Categories
mobile robots, robot programming.
Author keywords
3D environment models, observation models, mobile robot, 3D localization, simulation, openGL
Scientific reference
A. Corominas Murtra, E. Trulls Fortuny, J. M. Mirats Tur and A. Sanfeliu. Efficient use of 3d environment models for mobile robot simulation and localization, 2nd International Conference on Simulation, Modelling, and Programming for Autonomous Robots, 2010, Darmstadt, Germany, in Simulation, Modelling, and Programming for Autonomous Robots, Vol 6472 of Lecture Notes in Computer Science, pp. 461-472, 2010, Springer, Berlin.
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