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Pier Francesco Palamara

Corso di Visione e Percezione:. An Efficient Extension of Elevation Maps for Outdoor Terrain Mapping Patrick Pfaff and Wolfram Burgard. Pier Francesco Palamara. Dominio. Navigazione di un sistema robotico autonomo in ambiente reale:. Environment modelling (perception) Numeric Level

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Pier Francesco Palamara

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  1. Corso di Visione e Percezione: An Efficient Extension of Elevation Maps for Outdoor Terrain Mapping Patrick Pfaff and Wolfram Burgard Pier Francesco Palamara

  2. Dominio • Navigazione di un sistema robotico autonomo in ambiente reale: • Environment modelling (perception) • Numeric Level • Symbolic Level • Path Planning (Behaviour Control) • Casi • terreno “facile”, terreno “difficile”, … • Soluzioni • Grafi, Potential Fields, …

  3. Strutture Dati • Mappa che contenga informazione sull’altezza dell’ambiente • Topological Maps – Poche informazioni geometriche • Full 3D Maps – Costi computazionali • Elevation Maps – OK! • Caratteristiche: • Griglia discreta di dimensione

  4. Elevation Maps • Percezione rumorosa: Kalman Filter • Aggiornamento della media: • Aggiornamento della Deviazione Standard: • Problemi • Semantico: Gli oggetti “appesi” sono classificati come ostacoli • Computazionale: Il matching (ICP) da punti di vista differenti e’ costoso e non converge

  5. Classificazione • I punti vengono classificati in base alla deviazione standard in: • Vertical objects • Vertical Gaps • Edge cells (from above) • Traversable cells

  6. Mappa globale • Viene utilizzato un variazione di ICP (Besl – McKay – IEEE 1992) per il merging • ICP • Con classificazione • dove

  7. Risultato

  8. Conclusione • Mapping dipendente da ambiente • Semantica nelle mappe • Estrazione features • Filtraggio • Ottimizzazione (es. modifica di ICP) • Rilevamento dinamico classi di ambiente • Cosa mi “aspetto” di dover considerare • Costi e prestazioni scalabili

  9. Software • Moduli software di grandi architetture per robot mobili • Implementazione in matlab dell’elevation map

  10. Resources • An Efficient Extension of Elevation Maps for Outdoor Terrain Mapping - Patrick Pfaff and Wolfram Burgard • a Method for Registration of 3D Shapes - PJ Besl, ND McKay - IEEE Transactions on Pattern Analysis and Machine Intelligence, 1992. • High Resolution terrain map from multiple senson data - In So Kweon, Takeo Kanade - IEEE Transaction on Pattern Analisys and Machine Intelligence, VOL 14, N. 2, February 1992 • Sélection et contrôle de modes de déplacement pour un robot mobile autonome en environnements naturels - T. Peynot - LAAS-CNRS • Autonomous Rover Navigation on Unknown Terrains Functions and Integration - Simon Lacroix, Anthony Mallet, David Bonnafous Grard Bauzil, Sara Fleury, Matthieu Herrb, and Raja Chatila - LAAS/CNRS • The autonomous blimp project of LAAS/CNRS Current status and research challenges - Simon Lacroix Il-Kyun Jung Philippe Soueres Emmanuel Hygounenc Jean-Paul Berry - LAAS/CNRS • On the ICP algorithm - Esther Ezra, Micha Sharir, Alon Efrat • 3-D Modelling and Robot Localization from Visual and Range Data in Natural Scenes Carlos Parra, Rafael Murrieta-Cid, Michel Devy, Maurice Briot - LAAS-CNRS

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