Real-time indoor mapping for mobile robots with limited sensing

Details

Event MELT 2010

Authors

Zhang, Ying
Liu, Juan J.
Technical Publications
November 8th 2010
Mapping and localization for indoor robotic navigation is a well-studied field. However, existing work largely relies on long range perceptive sensors in addition to the robots odometry, and little has been done with short range sensors. In this paper, we propose a method for real-time indoor mapping using only short range sensors such as bumpers and/or wall sensors that enable wall-following. The method uses odometry data from the robots wall-following trajectory, together with readings from bumpers and wall sensors. The method first performs trace segmentation by fitting line segments to the noisy trajectory. Given the assumption of approximately rectilinear structure in the floor plans, typical for most indoor environments, a probabilistic rectification process is then applied to the segmented traces to obtain the orthogonal wall outlines. Both segmentation and rectification are performed on-line onboard the robot during its navigation through the environment. The resulting map is a set of line segments that represents the wall outline. The method has been tested in office buildings. Experimental results have shown that the method is robust to noisy odometry and non-rectilinear obstacles along the walls.

Citation

Zhang, Y.; Liu, J. J.; Hoffmann, G.; Quilling, M.; Payne, K.; Bose, P.; Zimdars, A. Real-time indoor mapping for mobile robots with limited sensing. 3rd International Workshop on Mobile Entity Localization and Tracking (MELT 2010) at IEEE MASS 2010; 2010 November 8; San Francisco CA. Piscataway, NJ: IEEE; 2010; 636-641

Additional information

Focus Areas

Our work is centered around a series of Focus Areas that we believe are the future of science and technology.

FIND OUT MORE
Licensing & Commercialization Opportunities

We’re continually developing new technologies, many of which are available for¬†Commercialization.

FIND OUT MORE
News

PARC scientists and staffers are active members and contributors to the science and technology communities.

FIND OUT MORE