Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
712560 | IFAC Proceedings Volumes | 2006 | 6 Pages |
Abstract
This paper considers the problem of constructing a 3D environment model for space robotics applications. We presented our approach to 3D environment reconstruction from large sparse range data sets. In space robotics applications an accurate and up-to-date model of the environment is very important for variety of reasons. In particular, the model can be used for safe tele-operation, path planning and mapping of points of interest. We propose an on-line reconstruction of the environment using data provided by an on-board 3D range sensor LIDAR. The experiment results demonstrated the effectiveness of our approach in localization, path planning and following scenario on the Mars Yard located at Canadian Space Agency.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Joseph Nsasi Bakambu, Pierre Allard, Erick Dupuis,