Autonomous navigation of our rough-terrain rovers implies the need of a good representation of their near surrounding. In order to archive this we fuse several of their sensors into one representation called OctoMap. But moving obstacles can produce artefacts, leading to untraversable re- gions. Furthermore the map itself is increasing in size while discovering new places. Even though we are only interested in the near surrounding of the rovers. Our approach to these problems is the usage of timestamps within the map. If a certain region was not updated within a given interval, it will be set to free space or deleted from the map. This first option is an existing solution and the second option reflects our new alternative.
| Identifer | oai:union.ndltd.org:DRESDEN/oai:qucosa.de:bsz:ch1-qucosa-226576 |
| Date | 22 August 2017 |
| Creators | Weissig, Peter |
| Contributors | TU Chemnitz, Fakultät für Elektrotechnik und Informationstechnik |
| Publisher | Universitätsbibliothek Chemnitz |
| Source Sets | Hochschulschriftenserver (HSSS) der SLUB Dresden |
| Language | English |
| Detected Language | English |
| Type | doc-type:conferenceObject |
| Format | application/pdf, text/plain, application/zip |
| Source | Published at the Workshop on State Estimation and Terrain Perception for All Terrain Mobile Robots held in conjunction with the International Conference on Intelligent Robots and Systems (IROS), 2016 |
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