3D map building is a complex robotics task which needs mathematical robust models. From a 3D point cloud, we can use the normal vectors to these points to do feature extraction. In this paper, we will present a robust method for normal estimation and unconstrained 3D-mesh generation from a not-uniformly distributed point cloud.

The problem of generating maps with mobile robots has received considerable attention over the past years. Most of the techniques developed so far have been designed for situations in which the environment is static during the mapping process. Dynamic objects, however, can lead to serious errors in the resulting maps such as spurious objects or misalignments due to localization errors. In this ...

We present a behavior-based technique for incremental on-line mapping and autonomous navigation for mobile robots, speci cally geared for time-critical indoor exploration tasks. The experimental platform used is a Pioneer AT mobile robot endowed with seven sonar transducers, a drift-stabilized gyro, a compass and a pan-tilt color camera. While the thrust of our work is the autonomous generation...

Visual simultaneous localisation and map-building systems which take advantage of some landmarks other than point-wise environment features are not frequently reported. In the following paper the method of using the operational map of robot surrounding, which is complemented with visible structured passive landmarks, is described. These landmarks are used to improve self-localisation accuracy o...

Absfracf-The development of an autonomous land vehicle (ALV) is a central problem in artificial intelligence and robotics, and has been extensively studied. To perform visual navigation, a robot must gather information about its environment through external sensors, interpret the output of these sensors, construct a scene map and a plan sufficient for the task at hand, and then monitor and exec...

Map building is one of the most popular classical problems in mobile robotics field and sensor model is the way to interpret raw sensory information in spatial world especially for building map. For mobile robots, working in indoor environment, Ultrasonic Sonar(US) is famous because of its availability, wide angle and long range sensing ability etc, in spite of some problems. Among them, Specul...

The cartographic generalization prepares and arranges the contents of a map for a given scale and application in order to improve its comprehensibility. In recent years, the data sets for map-like presentations in 3D has become widespread available. Concerning urban areas, the most important objects therein are buildings. Whereas quiet a number of generalization algorithms for 3D data have been...

Active cameras provide a navigating vehicle with the ability to fixate and track features over extended periods of time, and wide fields of view. While it is relatively straightforward to apply fixating vision to tactical, short-term navigation tasks, using serial fixation on a succession of features to provide global information for strategic navigation is more involved. However, active vision...

The technique of simultaneous localization and mapping is the most important research topic in mobile robotics. In the process of building a map in its available memory, the robot memorizes environmental information on the plane of grid or topology. Several approaches about this technique have been presented so far, but most of them use mapping technique as either grid-based map or topology-bas...