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Proceedings Paper

Robot mapping in large-scale mixed indoor and outdoor environments
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Paper Abstract

Tactical situational awareness in unstructured and mixed indoor / outdoor scenarios is needed for urban combat as well as rescue operations. Two of the key functionalities needed by robot systems to function in an unknown environment are the ability to build a map of the environment and to determine its position within that map. In this paper, we present a strategy to build dense maps and to automatically close loops from 3D point clouds; this has been integrated into a mapping system dubbed OmniMapper. We will present both the underlying system, and experimental results from a variety of environments such as office buildings, at military training facilities and in large scale mixed indoor and outdoor environments.

Paper Details

Date Published: 17 May 2013
PDF: 10 pages
Proc. SPIE 8741, Unmanned Systems Technology XV, 874107 (17 May 2013); doi: 10.1117/12.2015955
Show Author Affiliations
John G. Rogers III, U.S. Army Research Lab. (United States)
Stuart Young, U.S. Army Research Lab. (United States)
Jason Gregory, U.S. Army Research Lab. (United States)
Carlos Nieto-Granda, Georgia Institute of Technology (United States)
Henrik I. Christensen, Georgia Institute of Technology (United States)

Published in SPIE Proceedings Vol. 8741:
Unmanned Systems Technology XV
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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