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Fully autonomous exploration and mobile manipulation in rough terrain are still beyond the state of the art—robotics challenges and competitions are held to facilitate and benchmark research in this direction. One example is the 2013 DLR SpaceBot Cup, for which we developed an integrated robot system to semiautonomously perform planetary exploration and manipulation tasks. Our robot explores, maps,...
Mapping, real-time localization, and path planning are prerequisites for autonomous robot navigation. These functions also facilitate situation awareness of remote operators. In this paper, we propose methods for efficient 3D mapping and real-time 6D pose tracking of autonomous robots using a continuously rotating 2D laser scanner. We have developed our approach in the context of the DLR SpaceBot...
Mapping and real-time localization are prerequisites for autonomous robot navigation. They also facilitate situation awareness of remote operators in exploration or rescue missions. In this paper, we propose methods for efficient 3D mapping of environments and for tracking in real-time the 6D movement of autonomous robots using a continuously rotating 3D laser scanner. Multi-resolution surfel representations...
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