Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)

  • 2003.06a
  • /
  • Pages.1127-1130
  • /
  • 2003
  • /
  • 2005-8446(pISSN)
Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

3D Map-Building using Histogramic In-Motion Mapping in the Eyebot

HIMM을 이용한 3차원 지도작성

  • 정현룡 (전남대 대학원 기계공학과) ;
  • 김영배 (전남대 대학원 기계공학과)
  • Published : 2003.06.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper introduces histogramic in-motion mapping for real-time map building with the Eyebot in motion. A histogram grid used in HIMM is updated through three PSD sensors. HIMM makes it possible to make fast map-building and avoid obstacles in real-time. Fast map-building allows the robot to immediately use the mapped information in real-time obstacle-avoidance algorithms. HIMM has been tested on the Eyebot. The Eyebot sends PSD data to computer and computer builds a 3D-Map based on PSD data.

Keywords