Remotely Operated and Autonomous Mapping System (ROAMS)

Biruk A. Gebre, Hao Men, Kishore Pochiraju

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Scopus citations

Abstract

The development of a relatively low cost mobile 3D mapping robot prototype named ROAMS (Remotely Operated and Autonomous Mappings Systems) which enables rapid generation of high resolution 3D maps of indoor/outdoor environments is presented. The Robotic system generates 3D maps using a video registered Lidar scanning system integrated with a multiple degree of freedom actuator. This vehicle is also used as a test platform for conducting studies and real-time experiments on autonomous operations. Environmental awareness sensors in combination with a long range wireless communications system is used to enable remote operation and monitoring of ROAMS. Techniques for improving the resolution and point distribution of Lidar data through the use of video images and actuator speed control are also investigated and presented.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009
Pages173-178
Number of pages6
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009 - Woburn, MA, United States
Duration: 9 Nov 200910 Nov 2009

Publication series

Name2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009

Conference

Conference2009 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2009
Country/TerritoryUnited States
CityWoburn, MA
Period9/11/0910/11/09

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