Real-time 3D environment model for obstacle detection and collision avoidance with a mobile service robot
J. U. Kuehnle, Marinus Danzer, Alexander W. Verl, Rainer Bischoff · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2009
In this paper we describe a real-time 3D environment model for obstacle detection and collision avoidance with a mobile service robot. It is fully integrated in the experimental platform DESIRE. Experiments show, that all components perform well and allow for reliable and robust operation of a mobile service robot with actuating capabilities in the presence of obstacles.