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Efficient use of 3d environment models for mobile robot simulation and localization
Corominas Murtra, Andreu; Trulls Fortuny, Eduard; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto
Universitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents
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.
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
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
info:eu-repo/semantics/submittedVersion
info:eu-repo/semantics/conferenceObject
Springer Verlag
         

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