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Enhanced Autonomous Exploration and Mapping of an Unknown Environment with the Fusion of Dual RGB-D Sensors

文献类型：期刊论文

作者Yu NB(于宁波)1,2,3; Wang SR(王石荣)1,2
刊名Engineering
出版日期2019
卷号5期号:1页码:164-172
关键词Autonomous exploration RGB-DSensor fusion Point cloud Partial map simulation Global frontier search
ISSN号2095-8099
产权排序1
英文摘要The autonomous exploration and mapping of an unknown environment is useful in a wide range of applications and thus holds great significance. Existing methods mostly use range sensors to generate two-dimensional (2D) grid maps. Red/green/blue-depth (RGB-D) sensors provide both color and depth information on the environment, thereby enabling the generation of a three-dimensional (3D) point cloud map that is intuitive for human perception. In this paper, we present a systematic approach with dual RGB-D sensors to achieve the autonomous exploration and mapping of an unknown indoor environment. With the synchronized and processed RGB-D data, location points were generated and a 3D point cloud map and 2D grid map were incrementally built. Next, the exploration was modeled as a partially observable Markov decision process. Partial map simulation and global frontier search methods were combined for autonomous exploration, and dynamic action constraints were utilized in motion control. In this way, the local optimum can be avoided and the exploration efficacy can be ensured. Experiments with single connected and multi-branched regions demonstrated the high robustness, efficiency, and superiority of the developed system and methods.
资助项目National Natural Science Foundation of China[61720106012] ; National Natural Science Foundation of China[61403215] ; Foundation of State Key Laboratory of Robotics[2006-003] ; Fundamental Research Funds for the Central Universities
WOS研究方向Engineering
语种英语
WOS记录号WOS:000460482100022
资助机构National Natural Science Foundation of China ; Foundation of State Key Laboratory of Robotics ; Fundamental Research Funds for the Central Universities
源URL[http://ir.sia.cn/handle/173321/24155]  
专题沈阳自动化研究所_机器人学研究室
通讯作者Yu NB(于宁波)
作者单位1.Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300353, China
2.Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin 300353, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式
GB/T 7714		 Yu NB,Wang SR. Enhanced Autonomous Exploration and Mapping of an Unknown Environment with the Fusion of Dual RGB-D Sensors[J]. Engineering,2019,5(1):164-172.
APA Yu NB,&Wang SR.(2019).Enhanced Autonomous Exploration and Mapping of an Unknown Environment with the Fusion of Dual RGB-D Sensors.Engineering,5(1),164-172.
MLA Yu NB,et al."Enhanced Autonomous Exploration and Mapping of an Unknown Environment with the Fusion of Dual RGB-D Sensors".Engineering 5.1(2019):164-172.

入库方式： OAI收割

来源：沈阳自动化研究所

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