Three-dimensional Perception for Mobile Robots
Rudolph Triebel
Broschiertes Buch

Three-dimensional Perception for Mobile Robots

Concepts and Approaches for the Acquisition, Efficient Representation, and Semantic Interpretation of Three-dimensional Range Data for Mobile Robots

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The problem of three-dimensional perception for mobile robots is divided into three major tasks: data acquisition, consistent and efficient representation, and semantic interpretation. For all three tasks we provide novel approaches: a 4 DOF robot arm with a laser range sensor to autonomously scan mid-size 3D objects, a new probabilistic representation for outdoor environments with surfaces at different height levels ("multi-level surface maps"), and a collective classification method to identify objects such as chairs and tables in 3D range scans. The presented approaches apply and extend tec...