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Leaving Flatland: Efficient Real-Time Three-Dimensional Perception and Motion Planning

机译：离开平地：高效的实时三维感知和运动计划

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摘要

In this article we present the complete details of the architecture and implementation of Leaving Flatland, an exploratory project that attempts to surmount the challenges of closing the loop between autonomous perception and action on challenging terrain. The proposed system includes comprehensive localization, mapping, path planning, and visualization techniques for a mobile robot to operate autonomously in complex three-dimensional (3D) indoor and outdoor environments. In doing so we integrate robust visual odometry localization techniques with real-time 3D mapping methods from stereo data to obtain consistent global models annotated with semantic labels. These models are used by a multiregion motion planner that adapts existing two-dimensional planning techniques to operate in 3D terrain. All the system components are evaluated on a variety of real-world data sets, and their computational performance is shown to be favorable for high-speed autonomous navigation.
机译：在本文中，我们介绍了Leaving Flatland的体系结构和实现的完整细节，这是一个探索性项目，旨在克服封闭自主感知与挑战性地形之间的循环所带来的挑战。拟议的系统包括全面的定位，地图绘制，路径规划和可视化技术，使移动机器人可以在复杂的三维（3D）室内和室外环境中自主运行。为此，我们将强大的视觉里程计本地化技术与来自立体声数据的实时3D映射方法集成在一起，以获得一致的，带有语义标签的全局模型。这些模型由多区域运动计划者使用，该计划者适应现有的二维计划技术以在3D地形中运行。所有系统组件都在各种现实世界的数据集上进行了评估，其计算性能被证明对高速自主导航非常有利。

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  • 来源
    《Journal of Robotic Systems》 |2009年第10期|P.841-862|共22页
  • 作者

    Radu Bogdan Rusu; Aravind Sundaresan; Benoit Morisset; Kris Hauser; Motilal Agrawal; Jean-Claude Latombe; Michael Beetz;

  • 作者单位

    Artificial Intelligence Center SRI International 333 Ravenswood Avenue Menlo Park, California 94025 Intelligent Autonomous Systems Technische Universitat Munchen Boltzmannstrasse 3 85748 Garching b.Munich, Germany;

    rnArtificial Intelligence Center SRI International 333 Ravenswood Avenue Menlo Park, California 94025;

    rnArtificial Intelligence Center SRI International 333 Ravenswood Avenue Menlo Park, California 94025;

    rnComputer Science Department Stanford University Stanford, California 94305;

    rnArtificial Intelligence Center SRI International 333 Ravenswood Avenue Menlo Park, California 94025;

    rnComputer Science Department Stanford University Stanford, California 94305;

    rnIntelligent Autonomous Systems Technische Universitaet Muenchen Boltzmannstrasse 385748 Garching b.Munich, Germany;

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