Volume XLII-2/W8
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W8, 67-74, 2017
https://doi.org/10.5194/isprs-archives-XLII-2-W8-67-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 4.0 License.
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W8, 67-74, 2017
https://doi.org/10.5194/isprs-archives-XLII-2-W8-67-2017
© Author(s) 2017. This work is distributed under
the Creative Commons Attribution 4.0 License.

  13 Nov 2017

13 Nov 2017

AUTONOMOUS WHEELED ROBOT PLATFORM TESTBED FOR NAVIGATION AND MAPPING USING LOW-COST SENSORS

D. Calero, E. Fernandez, and M. E. Parés D. Calero et al.
  • Centre Tecnològic de Telecomunicacions de Catalunya (CTTC/CERCA), Av. Carl Friedrich Gauss, 7. Building B4, 08860 Castelldefels, Spain

Keywords: 3D modelling, Kinect, Navigation, ROS, SLAM

Abstract. This paper presents the concept of an architecture for a wheeled robot system that helps researchers in the field of geomatics to speed up their daily research on kinematic geodesy, indoor navigation and indoor positioning fields. The presented ideas corresponds to an extensible and modular hardware and software system aimed at the development of new low-cost mapping algorithms as well as at the evaluation of the performance of sensors. The concept, already implemented in the CTTC's system ARAS (Autonomous Rover for Automatic Surveying) is generic and extensible. This means that it is possible to incorporate new navigation algorithms or sensors at no maintenance cost. Only the effort related to the development tasks required to either create such algorithms needs to be taken into account. As a consequence, change poses a much small problem for research activities in this specific area. This system includes several standalone sensors that may be combined in different ways to accomplish several goals; that is, this system may be used to perform a variety of tasks, as, for instance evaluates positioning algorithms performance or mapping algorithms performance.