Mapping for unknown environment using incremental triangulation

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Autonomous robot exploration and map building for unknown environments is essential in a wide range of applications such as search and rescue, surveillance, military and other high risk scenarios. As the robot starts exploring its surroundings, it accumulatively builds a partial map of the environment composing of the areas that are currently known by the robot. In this work we present a new exploration and mapping solution that will capture the environment structure geometrically. The proposed Triangulation-Based exploration maps the environment using the Dynamic Triangulation Tree structure (DTT) developed in this study. Using triangles to store the geometry of the environment will significantly reduce the storage space required when compared to the occupancy grids used in many exploration and map building solutions. The efficiency of the proposed mapping structure is validated experimentally through simulations.

Original languageBritish English
Title of host publication2013 IEEE 20th International Conference on Electronics, Circuits, and Systems, ICECS 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages106-107
Number of pages2
ISBN (Print)9781479924523
DOIs
StatePublished - 2013
Event2013 IEEE 20th International Conference on Electronics, Circuits, and Systems, ICECS 2013 - Abu Dhabi, United Arab Emirates
Duration: 8 Dec 201311 Dec 2013

Publication series

NameProceedings of the IEEE International Conference on Electronics, Circuits, and Systems

Conference

Conference2013 IEEE 20th International Conference on Electronics, Circuits, and Systems, ICECS 2013
Country/TerritoryUnited Arab Emirates
CityAbu Dhabi
Period8/12/1311/12/13

Fingerprint

Dive into the research topics of 'Mapping for unknown environment using incremental triangulation'. Together they form a unique fingerprint.

Cite this