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Informations
Publié par | technische_universitat_munchen |
Publié le | 01 janvier 2006 |
Nombre de lectures | 7 |
Poids de l'ouvrage | 78 Mo |
Extrait
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Institutfu¨rInformatik
derTechnischenUniversita¨tMu¨nchen
Region&GatewayMapping:
AcquiringStructuredandObject-Oriented
RepresentationsofIndoorEnvironments
Dissertation
DerikSchr¨oter
Institutfu¨rInformatik
derTechnischenUniversita¨tMu¨nchen
Region&GatewayMapping:
AcquiringStructuredandObject-Oriented
RepresentationsofIndoorEnvironments
DerikSchr¨oter
Vollsta¨ndigerAbdruckdervonderFakulta¨tfu¨rInformatikderTechnischenUniversita¨t
Mu¨nchenzurErlangungdesakademischenGradeseines
DoktorsderNaturwissenschaften(Dr.rer.nat.)
genehmigtenDissertation.
Vorsitzender:Univ.-Prof.AlfonsKemper,Ph.D.
Pru¨ferderDissertation:1.Univ.-Prof.Dr.BerndRadig
2.Univ.-Prof.Dr.-Ing.DariusBurschka
3.Univ.-Prof.Dr.WolframBurgard,
Albert-Ludwigs-Universita¨tFreiburg
DieDissertationwurdeam10.11.2005beiderTechnischenUniversita¨tMu¨nchen
eingereichtunddurchdieFakulta¨tfu¨rInformatikam29.03.2006angenommen.
Abstract
State-of-the-artrobotmappingapproachesarecapableofacquiringimpressivelyaccurate
2Dand3Dmodelsoftheirenvironments.Tothebestofourknowledge,fewofthemrepre-
sentstructureoracquiremodelsoftask-relevantobjects.Inthiswork,anewapproachto
mappingofindoorenvironmentsispresented,inwhichtheenvironmentstructureinterms
ofregionsandgatewaysisautomaticallyextracted,whiletherobotexplores.Objects,both
in2Dand3D,aremodeledexplicitlyinthosemapsandallowforrobustlocalization.We
refertothosemapsasstructuredobject-orientedenvironmentrepresentationsorRegion
&GatewayMaps(RGMaps).TheprocessofbuildingsuchmapsiscalledRegion&
GatewayMapping(RGMapping).
RGMapsandRGMappingmakeseveralcontributionstotheeldofmapbuildingof
indoorenvironments.First,RGMappingautomaticallyrecoversthestructureoflarge
classesofindoorenvironmentsandrepresentsthemexplicitly.Therefore,novelalgorithms
havebeendevelopedforthedetectionandrecognitionofgateways,i.e.transitionsbetween
regions.Second,itdetectsrectangular2D/3Dobjectsusinglaserrangeaswellasimage
datathatareusedforgatewaydetectionandlocalization.Third,thesemanticdescription,
i.e.annotationofregionsandobjects,isobtainedfromhuman-machineinteractionin
thecontextoftaskassignment.Fourth,acompactRegion&GatewayGraphiseasily
extractedfromRGMaps,anditisusedforecientpathplanningontheglobalscale.
Itallowsreasoningaboutthefeasibilityofagivenpathandlearningoftheproperties
ofpathsegmentswhiletherobotmovesthroughtheenvironment.Fifth,duetothe
clusteringofmetricdataintoregions,region-basedlocalizationandpathplanningonly
needtoconsidertherespectiveregiondata.Thus,thecomplexityofthedataassociation
problemforlocalizationandthesearchspaceformetricpathplanningissubstantially
reduced.
TheRGMappingandNavigationSystemhasbeenfullyimplementedasadistributed
(module-based)system,andrunsinreal-timeonarealrobot.Duetoitsarchitecture,
thesystemcanbeeasilyportedtodierentplatforms,providedthatsimilarsensordata
isavailable.InordertosupportreliableexplorationofandnavigationwithinRGMaps,
thepresentedsystemfeaturesanovelapproachtocollisionavoidanceandlow-levelcontrol.
Thelow-levelcontrolallowsforverypreciseandfastpursuingofshorttrajectorysegments,
whichcanbechangedatanytime.Thecollisionavoidancegeneratestrajectorysegments
basedontheinterpretationofthecurrentsensordataandshort-distancetargetsfromthe
pathplanningprocess.Asaresult,thenavigationbehaviouroftherobotisreproducible
andpredictable,whichisaverydesirablefeatureforhigh-levelplanning.
Acknowledgements
TheopportunitytoconductresearchinroboticsandvisionintheIntelligentAutonomous
SystemsGroupattheTechnischeUniversita¨tMu¨nchenturnedouttobeanexcitingand
pleasantexperience.Thishasbeeneectedmainlybythefriendlyatmosphereandthe
scienticspiritinthedepartment.Needlesstomention,theworkpresentedinthisthesis
hasbenetedgreatlyfromtheinputandsupportofnumerouspeopleinsideandoutsideof
thegroup,andthereforeIwanttoexpressmydeepestgratitudetoeveryoneinvolved.
IwanttothankProf.BerndRadigforthecondenceandtrustheplacedinme,by
facilitatingmyresearchpositionandnancialsupport.Afterdeningthegeneraldirection
formyresearch,healwaysencouragedmetoformulatemyownideasandagendaand
gavemethemotivationandfreedomtoshapetheprojectasitprogressed.Withoutthe
unlimitedsupportofProf.MichaelBeetzImightbesittingherefacingonlyabunchof
goodideas.Inuncountedfruitfulandsometimesverylivelydiscussionshehelpedmeto
formmyresearch,andtherewasalwaystimeforfriendlyandbenevolentmotivations.Most
ofallhismanycommentsonmypapers,presentationsandnallymythesishavetaught
mehowtomakemywritingtellastoryandhowideascanformaresearchproject.Ihave
learnednotjusttoexplain,buttoconvince.Thankyou,Michael.
ThankstoProf.DariusBurschkaforservingasamemberofmydissertationcommittee,
aswellasProf.WolframBurgardwhohasbeenasourceofinspirationforbothmywork
andmywriting.Inparticular,Iwanttothankhimforreviewingmythesisandthetime
wesharedinseveraldiscussionsaboutrelatedsubjects.Likewise,mythanksgotoDirk
H¨ahnel,SteenGutmann,PatrikBeeson,MichaelThielscherandalltheothersIwasglad
tomeetatConferences,Workshopsandotheroccasions.Thanksforyourcriticalreections
andhelpfulcomments.IwanttoexpressspecialgratitudetoMariaFoxandBorisFlach
notonlyfortechnicaldiscussionsbutalsoforlongconversationsaboutlifeandresearchin
generalandthegoodredwinethatwentalongwithit.Theycontributedmorethanthey
possiblyknowtomymotivationandwell-being.
Ididnotmeantoforgetaboutmypastandpresentcolleaguesandstudentsinthedepart-
ment.Afterall,theyhavebeenatremendoushelpandsupportintheeverydaywork.First
andforemostIwanttothankFreekStulpandAndreasHofhauserforcriticallyreecting
onmyideasandconstantlyencouragingmetocontinue(andtonallynish).Theyhave
becomegoodfriendstome,andIsureliketorememberthetimeFreekandmeplayed
inthatgreatrockband(www.theunknownhost.com).Andreaswasamongthestudents
thatcontributedessentiallytotheimplementationoftheworkpresentedhere,othersare
JanBandouch,StefanPlafka,ThomasWeber,StefanHinterstoisserandAndreasIizuka.
Theirhelphasbeenverymuchappreciated.FurtherthanksgotoKajetanBerlingerand
iiiiii
HeikoGottschlingwhoseemtoknoweverythingaboutprogramming,scriptinganduseful
tools.ThanksalsogotoRobertHanek,ThorstenSchmitt,SebastianBuckandChristoph
Hansenforhelpandsupportthroughoutmy