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In this article we present a navigation system of a mobile robot based on parallel calculations. It is assumed that the robot is equipped with a 3D laser range scanner. The system is essentially based on a dual grid-object, where labels are attached to detected objects (such maps can be used in navigation based on semantic information). We use a classical SMPA (Sense - Model - Plan - Act) architecture...
In this paper, we consider the problem of 3D maps building based on the 3D laser scanner indications. The map of the environmem is represented as a 2D array of cells. Each cell represents rectangular region of the scene and consits of list of objects. The key idea of the system is lines extraction from the raw laser data and assigning them to the proper cells. Based on the lines, a set of objects...
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