HOMER - A High Speed Robot For Indoor Exploration
MK Rozyn, NJ Wilson, Michelle Andrews, David Eager, RB Clout · UTS ePRESS (University of Technology Sydney) · 2003
This paper describes the design and development of a high-speed, lightweight robot for indoor exploration; HOMER (High-speed Obstacle Mapping and Exploration Robot).HOMER is designed to rapidly explore an indoor environment and generate 2D maps, using a stereoscopic camera as the primary range sensor.The focus of the HOMER project is to provide a platform for semi-autonomous exploration and visualisation of unknown indoor environments.HOMER has been designed with an implementation of the Player software architecture, making it possible to use it as a test bed for future research into vision-based navigation and mapping.