Open AccessExploring Unknown Structured Environments
Author(s) -
Jonathan F. Diaz,
Alexander Stoytchev,
Ronald C. Arkin
Publication year - 2001
Publication title -
smartech repository (georgia institute of technology)
Language(s) - English
Resource type - Reports
DOI - 10.21236/ada443608
Subject(s) - computer vision , computer science , laser scanning , noise (video) , artificial intelligence , scanner , range (aeronautics) , engineering , laser , aerospace engineering , physics , optics , image (mathematics)
This paper presents perceptual algorithms for corridor navigation, door detection and entry that can be used for exploration of an unknown floor of a building. The algorithms are fairly robust to sensor noise, do not use odometric data, and can be implemented on a low end PC. The primary sensor used is a laser range scanner.
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