SIA OpenIR  > 机器人学研究室
Enhanced Autonomous Exploration and Mapping of an Unknown Environment with the Fusion of Dual RGB-D Sensors
Yu NB(于宁波)1,2,3; Wang SR(王石荣)1,2
Department机器人学研究室
Source PublicationEngineering
ISSN2095-8099
2019
Volume5Issue:1Pages:164-172
Indexed BySCI ; EI
EI Accession number20190606469517
WOS IDWOS:000460482100022
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China ; Foundation of State Key Laboratory of Robotics ; Fundamental Research Funds for the Central Universities
KeywordAutonomous exploration RGB-DSensor fusion Point cloud Partial map simulation Global frontier search
AbstractThe autonomous exploration and mapping of an unknown environment is useful in a wide range of applications and thus holds great significance. Existing methods mostly use range sensors to generate two-dimensional (2D) grid maps. Red/green/blue-depth (RGB-D) sensors provide both color and depth information on the environment, thereby enabling the generation of a three-dimensional (3D) point cloud map that is intuitive for human perception. In this paper, we present a systematic approach with dual RGB-D sensors to achieve the autonomous exploration and mapping of an unknown indoor environment. With the synchronized and processed RGB-D data, location points were generated and a 3D point cloud map and 2D grid map were incrementally built. Next, the exploration was modeled as a partially observable Markov decision process. Partial map simulation and global frontier search methods were combined for autonomous exploration, and dynamic action constraints were utilized in motion control. In this way, the local optimum can be avoided and the exploration efficacy can be ensured. Experiments with single connected and multi-branched regions demonstrated the high robustness, efficiency, and superiority of the developed system and methods.
Language英语
WOS SubjectEngineering, Multidisciplinary
WOS Research AreaEngineering
Funding ProjectNational Natural Science Foundation of China[61720106012] ; National Natural Science Foundation of China[61403215] ; Foundation of State Key Laboratory of Robotics[2006-003] ; Fundamental Research Funds for the Central Universities
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24155
Collection机器人学研究室
Corresponding AuthorYu NB(于宁波)
Affiliation1.Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin 300353, China
2.Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300353, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
Recommended Citation
GB/T 7714
Yu NB,Wang SR. Enhanced Autonomous Exploration and Mapping of an Unknown Environment with the Fusion of Dual RGB-D Sensors[J]. Engineering,2019,5(1):164-172.
APA Yu NB,&Wang SR.(2019).Enhanced Autonomous Exploration and Mapping of an Unknown Environment with the Fusion of Dual RGB-D Sensors.Engineering,5(1),164-172.
MLA Yu NB,et al."Enhanced Autonomous Exploration and Mapping of an Unknown Environment with the Fusion of Dual RGB-D Sensors".Engineering 5.1(2019):164-172.
Files in This Item: Download All
File Name/Size DocType Version Access License
Enhanced Autonomous (1852KB)期刊论文作者接受稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Yu NB(于宁波)]'s Articles
[Wang SR(王石荣)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Yu NB(于宁波)]'s Articles
[Wang SR(王石荣)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Yu NB(于宁波)]'s Articles
[Wang SR(王石荣)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Enhanced Autonomous Exploration and Mapping of an Unknown Environment with the Fusion of Dual RGB-D Sensors.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.