Projets par an
Résumé
The main goal was to improve a state of the art 6D SLAM algorithm with a new GPGPU-based implementation of data registration module. Data registration is based on ICP (Iterative Closest Point) algorithm that is fully implemented in the GPU with NVIDIA FERMI architecture. In our research we focus on mobile robot inspection intervention systems applicable in hazardous environments. The goal is to deliver a complete system capable of being used in real life. In this paper we demonstrate our achievements in the field of on line robot localization and mapping. We demonstrated an experiment in real large environment. We compared two strategies of data alingment - simple ICP and ICP using so called meta scan.
| langue originale | Indéfini/inconnu |
|---|---|
| Pages (de - à) | 275-280 |
| Nombre de pages | 6 |
| journal | Pomiary Automatyka Robotyka |
| Volume | 16 |
| Numéro de publication | 2 |
| état | Publié - 2012 |
Projets
- 1 Terminé
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ICARUS: Integrated Components for Assisted Rescue and Unmanned Search operations
De cubber, G. (Promoteur), Doroftei, L. (Chercheur), Borghgraef, A. (Chercheur), Balta, H. (Chercheur), Scheers, B. (Chercheur), Vandewal, M. (Chercheur) & Le Nir, V. (Chercheur)
1/02/12 → 31/01/16
Projet: Recherche