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Title: Day and night collaborative dynamic mapping in unstructured environment based on multimodal sensors
Authors: Yue, Yufeng
Yang, Chule
Zhang, Jun
Wen, Mingxing
Wu, Zhenyu
Zhang, Haoyuan
Wang, Danwei
Keywords: Engineering
Issue Date: 2020
Source: Yue, Y., Yang, C., Zhang, J., Wen, M., Wu, Z., Zhang, H. & Wang, D. (2020). Day and night collaborative dynamic mapping in unstructured environment based on multimodal sensors. 2020 IEEE International Conference on Robotics and Automation (ICRA), 2981-2987.
Abstract: Enabling long-term operation during day and night for collaborative robots requires a comprehensive understanding of the unstructured environment. Besides, in the dynamic environment, robots must be able to recognize dynamic objects and collaboratively build a global map. This paper proposes a novel approach for dynamic collaborative mapping based on multimodal environmental perception. For each mission, robots first apply heterogeneous sensor fusion model to detect humans and separate them to acquire static observations. Then, the collaborative mapping is performed to estimate the relative position between robots and local 3D maps are integrated into a globally consistent 3D map. The experiment is conducted in the day and night rainforest with moving people. The results show the accuracy, robustness, and versatility in 3D map fusion missions.
ISBN: 9781728173955
DOI: 10.1109/ICRA40945.2020.9197072
Rights: © 2020 Institute of Electrical and Electronics Engineers (IEEE). All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:EEE Conference Papers

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