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New modifications of VFH+ and VFH* (Vector Field Histogram) methods are presented in the paper. The features of the histogramic algorithms are generally improved and also using a potential of advanced sensors such as laser scanners is enabled. The main focus of the work is an introduction of modifications that provides collision-free navigation in environments with moving obstacles. For this purpose,...
In this paper we present an algorithm for 3D map generation with an RGB-D sensor. The purpose of the generated map is to improve the navigation and localization abilities of a mobile robot. Single RGB-D frames were captured and a complex 3D representation was created using simple geometric transformations.
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