Computer Engineering Commons^™

Eliminating Mutual Views In Fusion Of Ranging And Rgb-D Data From Robot Teams Operating In Confined Areas, Damian M. Lyons, Karma Shrestha

Faculty Publications

We address the problem of fusing laser and RGB-Data from multiple robots operating in close proximity to one another. By having a team of robots working together, a large area can be scanned quickly, or a smaller area scanned in greater detail. However, a key aspect of this problem is the elimination of the spurious readings due to the robots operating in close proximity. While there is an extensive literature on the mapping and localization aspect of this problem, our problem differs from the dynamic map problem in that it involves at one kind of transient map feature, robots viewing …