OctoSLAM: A 3D mapping approach to situational awareness of unmanned aerial vehicles

Fossel, Joscha-David; Hennes, Daniel; Claes, D. R.; Alers, Sjriek; Tuyls, Karl

doi:10.1109/icuas.2013.6564688

Cited by 25 publications

(12 citation statements)

References 8 publications

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“…The mission goals planner and scheduler used for experimentation is APSI version 2, which has been adapted to have a ROSJAVA service wrapper. The mapper service has been implemented using many different techniques, for example, using capitalised and hector mapping [32]. However, for the purposes of the experiments, no global mapper service has been implemented.…”

Section: Methodsmentioning

confidence: 99%

Ontology-Based Self-Reconfiguring Guidance, Navigation, and Control for Planetary Rovers

Burroughes

Gao

2016

Journal of Aerospace Information Systems

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Certain limitations exist in autonomous software and guidance, navigation, and control architectures developed for extraterrestrial planetary exploration rovers in regard to fault tolerance, changes in environment, and changes in rover capabilities. To address these limitations, this paper outlines a self-reconfiguring guidance, navigation, and control architecture, using an ontology-based rational agent to enable autonomous reconfiguration of mission goals, software architecture, software components, and the control of hardware components during the run time. This new architecture was evaluated through implementation onboard a rover and tested in challenging, Mars-like environments, both simulated and real world, and was found to be highly reliable, fault tolerant, and adaptable

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Section: Methodsmentioning

confidence: 99%

Ontology-Based Self-Reconfiguring Guidance, Navigation, and Control for Planetary Rovers

Burroughes

Gao

2016

Journal of Aerospace Information Systems

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“…Furthermore, octree-based maps were generated in the studies by Omari et al, 38 Schadler et al 39 and Fossel et al 40 using and extending the OctoMap 3D mapping framework presented previously in the study by Hornung et al 35 Omari et al 38 proposed a navigation system for a UAV platform equipped with a VI sensor that estimates the UAV pose and generates real-time environment 3D maps for industrial inspection. The obtained depth images are converted into a 3D point cloud stored in an octree-based data structure that is updated whenever a new depth image is obtained by raytracing the new point cloud in the octomap.…”

Section: (Rmap)mentioning

confidence: 99%

A survey on inspecting structures using robotic systems

Almadhoun

Taha

Seneviratne

et al. 2016

International Journal of Advanced Robotic Systems

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Advancements in robotics and autonomous systems are being deployed nowadays in many application domains such as search and rescue, industrial automation, domestic services and healthcare. These systems are developed to tackle tasks in some of the most challenging, labour intensive and dangerous environments. Inspecting structures (e.g. bridges, buildings, ships, wind turbines and aircrafts) is considered a hard task for humans to perform and of critical importance since missing any details could affect the structure's performance and integrity. Additionally, structure inspection is time and resource intensive and should be performed as efficiently and accurately as possible. Inspecting various structures has been reported in the literature using different robotic platforms to: inspect difficult to reach areas and detect various types of faults and anomalies. Typically, inspection missions involve performing three main tasks: coverage path planning, shape, model or surface reconstruction and the actual inspection of the structure. Coverage path planning ensures the generation of an optimized path that guarantees the complete coverage of the structure of interest in order to gather highly accurate information to be used for shape/model reconstruction. This article aims to provide an overview of the recent work and breakthroughs in the field of coverage path planning and model reconstruction, with focus on 3D reconstruction, for the purpose of robotic inspection.

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“…Therefore, by descending from root to leaf nodes data resolution is increased. OctoMap [11,16,17] is an octree based framework for 3D mapping. The approach doesn't need any prior assumption, and map information are divided into three types: occupied, free and unknown.…”

Section: D Map Representationmentioning

confidence: 99%

A real-time robotic indoor 3D mapping system using duel 2D laser range finders

Wang

Huo

Wang

2014

Proceedings of the 33rd Chinese Control Conference

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In this paper, we present a real-time 3D robotic indoor mapping system on a wheeled mobile robot equipped with two 2D laser range finder (LRF). We propose the fusion approach of two fixed 2D laser range finder (one horizontal and one vertical), odometers and gyroscope, to build accurate 2D and 3D maps at the same time. The two LRFs perform line-feature based SLAM in horizontal and vertical planes when the robot walking forward. Combined with the pose computed by the information of odometers and gyroscope, we achieve an accurate localization. To represent the 3D environment an octree based map is used. Mapping experiment of a 180m+ corridor was tested on an average speed of 0.5m/s without stop. The results shows the efficiency and accuracy of the 3D mapping system.

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OctoSLAM: A 3D mapping approach to situational awareness of unmanned aerial vehicles

Cited by 25 publications

References 8 publications

Ontology-Based Self-Reconfiguring Guidance, Navigation, and Control for Planetary Rovers

Ontology-Based Self-Reconfiguring Guidance, Navigation, and Control for Planetary Rovers

A survey on inspecting structures using robotic systems

A real-time robotic indoor 3D mapping system using duel 2D laser range finders

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