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Proceedings Paper

Autonomous exploration and mapping of unknown environments
Author(s): Jason Owens; Phil Osteen; MaryAnne Fields
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Paper Abstract

Autonomous exploration and mapping is a vital capability for future robotic systems expected to function in arbitrary complex environments. In this paper, we describe an end-to-end robotic solution for remotely mapping buildings. For a typical mapping system, an unmanned system is directed to enter an unknown building at a distance, sense the internal structure, and, barring additional tasks, while in situ, create a 2-D map of the building. This map provides a useful and intuitive representation of the environment for the remote operator. We have integrated a robust mapping and exploration system utilizing laser range scanners and RGB-D cameras, and we demonstrate an exploration and metacognition algorithm on a robotic platform. The algorithm allows the robot to safely navigate the building, explore the interior, report significant features to the operator, and generate a consistent map - all while maintaining localization.

Paper Details

Date Published: 25 May 2012
PDF: 15 pages
Proc. SPIE 8387, Unmanned Systems Technology XIV, 838717 (25 May 2012); doi: 10.1117/12.919147
Show Author Affiliations
Jason Owens, U.S. Army Research Lab. (United States)
Phil Osteen, Motile Robotics Inc. (United States)
MaryAnne Fields, U.S. Army Research Lab. (United States)

Published in SPIE Proceedings Vol. 8387:
Unmanned Systems Technology XIV
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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