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Cooperative 3D Structure Mapping for Climber Robots Aid


Post Doc Project
Keywords: 3D CLIMBER, 3D structure, mapping, localization, PCL, Kinect

The goal of the algorithms presented in this project is to be able to use a ground robot equipped with a depth sensor to generate a 3D map of a structure composed of poles as it is climbed by a climbing robot. This sections contains an overview of the two algorithms implemented in this package, pole section extractor and 3D structure mapper.

Pole Extractor
This algorithm is in charge of extracting pole sections from the environment inside a region of interest centered at the gripper of the climbing robot. Extraction is achieved using cylindrical segmentation.


Pole Structure Mapper
This algorithm uses the pole sections published by pole extractor to construct a map of the structure being climbed.



Video

Download
You can download all the software developed for this project on http://www.ros.org/wiki/pole_structure_mapper/.

Related Publications
Check Mahmoud Tavakoli's personal page.