3D Mapping, Localisation and Object Retrieval using Low Cost Robotic Platforms:
A Robotic Search Engine for the Real-World

3D Mapping, Localisation and Object Retrieval using Low Cost Robotic Platforms: A Robotic Search Engine for the Real-World

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

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.

BibTeX entry:

@inproceedings{Whelan14rssw,
   author = {T. Whelan and M. Kaess and R. Finman and M.F. Fallon and H.
	Johannsson and J.J. Leonard and J. McDonald},
   title = {3{D} Mapping, Localisation and Object Retrieval using Low Cost
	Robotic Platforms: A Robotic Search Engine for the Real-World},
   booktitle = {RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras},
   address = {Berkeley, CA},
   month = {Jul},
   year = {2014}
}