![]() ![]() In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. Hess, W., Kohler, D., Rapp, H., Andor, D.: Real-time loop closure in 2D LIDAR SLAM. Museth, K.: VDB: high-resolution sparse volumes with dynamic topology. In: 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), pp. MBesselmann, M.G., Puck, L., Steffen, L., Roennau, A., Dillmann, R.: VDB-Mapping: a high resolution and real-time capable 3D mapping framework for versatile mobile robots. Hornung, A., Wurm, K.M., Bennewitz, M., Stachniss, C., Burgard, W.: OctoMap: an efficient probabilistic 3D mapping framework based on octrees. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. Hutter, M., et al.: ANYmal-a highly mobile and dynamic quadrupedal robot. In: 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. Roennau, A., Heppner, G., Nowicki, M., Dillmann, R.: LAURON V: a versatile six-legged walking robot with advanced maneuverability. In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. Triebel, R., Pfaff, P., Burgard, W.: Multi-level surface maps for outdoor terrain mapping and loop closing. Heppner, G., Roennau, A., Oberländer, J., Klemm, S.: Laurope-six legged walking robot for planetary exploration participating in the spacebot cup. Press (1989)įankhauser, P., Bloesch, M., Gehring, C., Hutter, M., Siegwart, R.: Robot-centric elevation mapping with uncertainty estimates. In: Proceedings, 1989 International Conference on Robotics and Automation, pp. Kweon, I.S., Hebert, M., Krotkov, E., Kanade, T.: Terrain mapping for a roving planetary explorer. ![]() Institute of Electrical and Electronics Engineers (1985) 1985 IEEE International Conference on Robotics and Automation, vol. Moravec, H., Elfes, A.: High resolution maps from wide angle sonar. The presented experiments show, that this approach is able to significantly reduce the amount network traffic required in a remote mapping scenario. The algorithm can easily integrate various systems and was evaluated using an ANYmal robot operated over a remote base station. We present a level based approach which is able to further reduce the memory footprint of the update grids depending on different use-cases. This is archived by only exchanging memory efficient reduced update grids between the systems. collaborative robot teams) into a single map. Further this approach can be be used to combine data from various sources (e.g. In this paper we present a distributed mapping approach, which is able to efficiently share identical maps between different machines. Sending the whole map over a network would quickly overburden a wireless network. This is especially the case in volumetric 3D maps due to the added third dimension. Since the memory footprint of the data scales indefinitely with the resolution and size of the environment, these maps can become quite large. Usually these maps have to be transferred between different systems, like for example in a multi robot setup or if a operator needs access to the data on a remote control room. To utilize the increased mobility of these robots, autonomous navigation algorithms require fast and accurate volumetric maps, generated by the sensors of the robot. In recent times, the distribution of mobile walking robots has increased sharply due to their high availability. ![]()
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