PR2 scans an environment including objects on a table. The measurements are integrated into a hierarchical map structure that uses the OctoMap mapping framework (see http://octomap.sf.net). The result is a tree of 3D occupancy gridmaps including freespace (not shown). Further details can be found in our IROS 2011 paper (http://ais.informatik.uni-freiburg.de/publications/papers/wurm11iros.pdf).
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