Title: A simple modelling of complex environments for mobile robots

Authors: Jun Miura, Suguru Ikeda

Addresses: Department of Information and Computer Sciences, Toyohashi University of Technology, Toyohashi 441-8580, Japan. ' Department of Mechanical Engineering, Osaka University, Osaka 565-0871, Japan

Abstract: This paper deals with 3D environment modelling for mobile robots. The environment model we would like to generate is to be used as a medium of communication of location information between users and mobile robots. For such communication, a very precise environment model is not necessary. Thus, we develop a method of generating 3D model which is simple enough to generate fast but has sufficient geometric and appearance information. We also develop a robot localisation method and a Graphical User Interface, and verify that the model can actually support such communication.

Keywords: active contour models; mobile robots; 3D modelling; environment modelling; complex environments; location information; robot localisation.

DOI: 10.1504/IJISTA.2009.022695

International Journal of Intelligent Systems Technologies and Applications, 2009 Vol.6 No.1/2, pp.166 - 177

Published online: 25 Jan 2009 *

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