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In this paper, an effective 3D map building approach based on range data from binocular stereo vision sensor and Laser Range Finder is introduced in detail. First of all, a local map temporal integration approach in which Bayesian filter based dynamic occupancy grid map modeling technique is employed to reasonably deal with measurement uncertainty involved in environment perception. In addition, as...
In this paper, we presents an efficient Simultaneous Localization and Map-Building (SLAM) technique for indoor mobile robot navigation based on Laser Range Finder and Rao-Blackwellized Particle Filter (RBPF). Robot Technology Middleware (RTM) was used in the developed system. By using RTM, we can develop functional elements as “RT software components” that can be implemented by different programming...
This paper presents a new method of localization and map building of mobile robot based on mixed map model using LRF (Laser Range Finder). The mixed model composed of occupancy grids and line character maps is utilized to represent the environment map. Firstly, the LRF models and Bayes rules are used to construct a local occupancy grid map. Then, we extract obstacles points to get a precise geometry...
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