The SmartTer for ELROB 2006 - a vehicle for fully autonomous navigation and mapping in outdoor environments

摘要

The goal of our participation ELROB 2006 is to show fully autonomous navigation and 3D mapping in outdoor setting. Our robots is based on a standard Smart car that has been equipped with five distance laser sensors, three cameras, a differential GPS and an Inertial Measurement Unit (IMU) and four computers. The car’s systems states are directly accessed through the can bus. Localization and Navigation is realized by fusing all available sensory information in a probabilistic way. This enables us for high precision localization and dynamic local and global path planning. Using the 3D point clouds extracted from the rotating lasers and the omnidirectional image the smartTer is able to consistently register the 3D Maps and Analyze the Scene for regions of interest. 1 Team presentation The core of the SmartTeam is composed of around a dozen of researchers from EPFL's Autonomous Systems Lab (ASL) and ALU-FR's Autonomous Intelligent Systems Lab (AIS). Our team is technically and financially supported by RUAG Land Systems, Singleton