Exploring Unknown Structured Environments

Jonathan F. Diaz, Alexander Stoytchev, and Ronald C. Arkin, Georgia Institute of Technology, USA

This paper presents perceptual algorithms for corridor navigation, door detection and entry that can be used for exploration of an unknown floor of a building. The algorithms are fairly robust to sensor noise, do not use odometric data, and can be implemented on a low end PC. The primary sensor used is a laser range scanner.

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