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NIFTi is about human-robot cooperation. About teams of robots and humans doing tasks together, interacting together to try and reach a shared goal. NIFTi looks at how the robot could bear the human in mind. Literally. When determining what to do or say next in human-robot interaction; when, and how. NIFTi puts the human factor into cognitive robots, and human-robot team interaction in particular.   Each year, NIFTi evaluates its systems together with several USAR organizations. Rescue personnel teams up with NIFTi robots to carry out realistic missions, in real-life training areas. 

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m12-DR 1.1.1: Acquisition of spatial maps of semi-structured environments

Building the representation of the environment of a robot is essential to two general tasks: autonomous navigation and communication of the perception of the robot to the end-user. This report presents the results of the work- package 1 on spatio-temporal modeling for situation awareness during the first year. The objectives were to build consistent spatial representation of USAR sites (MS1.1) based on multi-modal localization in semi-structured environments and hybrid maps. We used state-of-the-art metrical 2D map- ping algorithm on which we developed an advanced topological decomposi- tion method based on information theory. We show results on 3D perception dedicated to SLAM. We also advanced the tools for modular and efficient Iterative Closest Point (ICP) algorithm.

DR111-PUBLIC.pdf — PDF document, 33712Kb

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