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Autonomous Robot Navigation in Human-Centered Environments Based on 3D Data Fusion

EURASIP Journal on Advances in Signal Processing volume 2007, Article number: 086831 (2007) Cite this article

Abstract

Efficient navigation of mobile platforms in dynamic human-centered environments is still an open research topic. We have already proposed an architecture (MEPHISTO) for a navigation system that is able to fulfill the main requirements of efficient navigation: fast and reliable sensor processing, extensive global world modeling, and distributed path planning. Our architecture uses a distributed system of sensor processing, world modeling, and path planning units. In this arcticle, we present implemented methods in the context of data fusion algorithms for 3D world modeling and real-time path planning. We also show results of the prototypic application of the system at the museum ZKM (center for art and media) in Karlsruhe.

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Authors and Affiliations

  1. Institute for Computer Science and Engineering (CSE), University of Karlsruhe (TH), Haid-und-Neu-Straße 7, Karlsruhe, 76131, Germany

    Peter Steinhaus, Marcus Strand & Rüdiger Dillmann

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  1. Peter Steinhaus
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  2. Marcus Strand
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  3. Rüdiger Dillmann
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Correspondence to Peter Steinhaus.

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Open Access This article is distributed under the terms of the Creative Commons Attribution 2.0 International License ( https://creativecommons.org/licenses/by/2.0 ), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Steinhaus, P., Strand, M. & Dillmann, R. Autonomous Robot Navigation in Human-Centered Environments Based on 3D Data Fusion. EURASIP J. Adv. Signal Process. 2007, 086831 (2007). https://doi.org/10.1155/2007/86831

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