Logo U. Osnabrueck Institute of Computer Science — Knowledge-Based Systems Research Group — Project LiSA

Project LiSA Localization

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LiSA Project Navigation Localization Publications Downloads

3D Mapping

We use the Kurt3D robot to get a 3D point cloud of the LiSA robot's environment. See project Kurt3D for details.
Kurt3D Outdoor point cloud of the working environment point cloud of the working environment
From this point cloud we extract the underlying polygonal structure using a region growing based marching cubes approach.
point cloud of the working environment point cloud of the working environment point cloud of the working environment 3d map of the environment
This map is used for 3D localization, and the GUI. A 2D slice through the map is used for global path planning.

3D Localization

In the LiSA-project we implemented a new method for efficient incorporation of 3D data into the localization process. We adopt a method from computer graphics called BSP-tree for mobile robot localization. This method iteratively splits the 3D model into two parts until there is only one polygon left (leave).
Kurt3D Outdoor point cloud of the working environment point cloud of the working environment point cloud of the working environment point cloud of the working environment
This BSP-tree allows us to identify possible robot poses inside the model and impossible robot poses outside the model with a single traversation through the tree.
Kurt3D Outdoor point cloud of the working environment
For all possible poses a 3D ray tracing is done in the BSP-tree in order to compare the real sensor data with the model. This comparison is used within a Monte Carlo localization method.
Kurt3D Outdoor Kurt3D Outdoor
LiSA Project Navigation Localization Publications Downloads

Contact

 Stefan Stiene
University of Osnabrück
Institute of Computer Science
Knowledge Bases Systems Research Group
Albrechtstraße 28 D-49069 Osnabrück, Germany

If you have any questions about the current state of the LiSA project, please contact:
Valid HTML 4.0! Logo BMBF Financial support for this research and development project LiSA is provided by the German Federal Ministry for Education and Research (BMBF) as part of the framework program "Forschung für die Produktion von Morgen" (Research for tomorrow's production; grants no. 02PB2170- 02PB2177). Its administration is handled by the Project Management Agency Forschungszentrum Karlsruhe (PTKAPFT). Logo PTKA Last changed: Jul 2, 2009