Robo Rescue Cup 2006 - Robot League Team ResKo Team (Germany)

This paper describes our approach for the RoboCup 2006 Rescue League. The mobile system we use is based on an ActivMedia Pineer 3 AT. It is equipped with a four wheel drive and sonar sensors in the front and in the back. On this platform, an alumnium rack is installed where the other devices are attached to: A self made stereo camera system (consisting of two high resolution Sony FireWire cameras), an electronic compass and a HOKUYU laser range finder (LRF). In addition, a third FireWire camera is attached to the back of the robot to give a rear view. The robot is manually controlled from a client computer, which is operated by one team member. The map building is done by the computer automatically by merging the collected LRF data with the depth information aquired by the stereo system. The operator can adjust the map proposed by the computer by correcting wrong matches. The victim detection has to be done by human observations using the visual cameras. The system was develpoped by students of the University of KoblenzLandau in Germany during the last 12 months.