This paper provides a detailed description of a set of algorithms to efficiently manipulate 3D geometric models to compute physical constraints and range observation models, data that is usually required in real-time mobile robotics or simulation. Our approach uses a standard file format to describe the environment and processes the model using the openGL library, a widely-used programming interface for 3D scene manipulation. The paper also presents results on a test model for benchmarking, and on a model of a real urban environment, where the algorithms have been effectively used for real-time localization in a large urban setting. ; Postprint (author’s final draft)
Efficient use of 3d environment models for mobile robot simulation and localization
2010-01-01
Sonstige
Elektronische Ressource
Englisch
Àrees temàtiques de la UPC::Informàtica::Robòtica , Neural networks (Computer science) , mobile robots robot programming PARAULES AUTOR: 3D environment models , observation models , mobile robot , 3D localization , simulation , openGL , Xarxes neuronals (Informàtica) , Classificació INSPEC::Automation::Robots::Mobile robots
DDC: | 629 |
Monocular Localization of a Mobile Robot
British Library Conference Proceedings | 1993
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