Whelan, Thomas and Kaess, Michael and Finman, R. and Fallon, M.F. and Johannsson, Hordur and Leonard, John J. and McDonald, John (2014) 3D Mapping, Localisation and Object Retrieval using Low Cost Robotic Platforms: A Robotic Search Engine for the Real-World. In: RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, July 12, 2014, Berkeley, CA.

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Abstract

In this paper we present work in progress on the development of a low-cost autonomous robotic platform that integrates multiple state-of-the-art techniques in RGB-D perception to form a system capable of completing a real-world task in an entirely autonomous fashion. The task we set out to complete is determining the location of a preselected object within the physical world. This experiment requires a robotic framework with a number of capabilities including autonomous exploration, dense real-time localisation and mapping, object detection, path planning and motion control.

Item Type:	Conference or Workshop Item (Paper)
Keywords:	3D Mapping; Localisation; Object Retrieval; Low Cost Robotic Platforms;
Academic Unit:	Faculty of Science and Engineering > Computer Science
Item ID:	8310
Depositing User:	John McDonald
Date Deposited:	12 Jun 2017 14:57
Refereed:	Yes
URI:
Use Licence:	This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here

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