This paper presents perceptual algorithms for corridor navigation, door detection and entry that can be used for exploration of an unknown floor of a building. The algorithms are fairly robust to sensor noise, do not use odometric data, and can be implemented on a low end PC. The primary sensor used is a laser range scanner. Their technique relies on constraint-based search to align a current laser frame with a map built from previous laser scans. The alignment of range scans is computationally expensive and can be unnecessary when navigating in a structured environment.


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    Title :

    Exploring Unknown Structured Environments


    Contributors:
    J. F. Diaz (author) / A. Stoytchev (author) / R. C. Arkin (author)

    Publication date :

    2001


    Size :

    6 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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