An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environments

By Hartmut Surmann, Andreas Nüchter, Joachim Hertzberg. Robotics Auton. Syst., 2003

610 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Computer Vision and Pattern Recognition

View Paper: https://www.semanticscholar.org/paper/cb0d411da1adc4a9feccb6afffc3331bfdf42441

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In Aerospace Engineering

In Computer Vision and Pattern Recognition

Citations in the corpus

Receding Horizon "Next-Best-View" Planner for 3D Exploration (2016, background): “…that can make plans for such missions [7], [8] assuming full prior knowledge about the environment and precompute good paths satisfying the mission requirements, while others do not assume any a priori information [9], [10] and compute paths online in reaction to the perceived environment.”
The Office Marathon: Robust navigation in an indoor office environment (2010, methodology): “Previous techniques for handling three-dimensional obstacles range from restricting the path of the robot to corridors known to be clear in the nominal case [3], to building a three-dimensional octree of the environment and computing bounding boxes around obstacles [6].”
OctoMap: an efficient probabilistic 3D mapping framework based on octrees (2013, background): “As a data structure, octrees are applied in a variety of applications, most notably in the area of computer graphics for efficient rendering (Botsch et al., 2002; Surmann et al., 2003; Laine and Karras, 2010) and in the field of photogrammetry to store and address large point clouds (GirardeauMontau”
Using laser range data for 3D SLAM in outdoor environments (2006, methodology): “Perhaps the most successful work to date has been in [5] and [6], which present very compelling results.”
Outdoor SLAM using visual appearance and laser ranging (2006, neutral): “The work by Surmann, Nuchter, Lingemann and Hertzberg in [22] and [23] is notable.”
The three-dimensional normal-distributions transform : an efficient representation for registration, surface analysis, and loop detection (2009, methodology): “Such 3D scanning devices have been used in many robotic research applications [4, 75, 77, 79, 98], as well as in this work.”
6D SLAM—3D mapping outdoor environments (2007, methodology): “We proposed and evaluated algorithms to accelerate ICP, namely, point reduction and approximate kd-trees ͑Nüchter et al., 2004; Surmann et al., 2003; Surmann et al., 2004͒, which are used here, too.”
A Survey on LiDAR Scanning Mechanisms (2020, background): “To the best of our knowledge, Surmann and coworkers [24] were the first group of researchers to build a low cost 3D LiDAR instrument on the base of a 2D LiDAR system by an extension of a standard servo.”