Arbeitsgruppe Grundlagen der Künstlichen Intelligenz, Institut für Informatik, Universität Freiburg

Rescue Camp Rome 2006 - Practical 'Building Augmented Elevation Maps with a Tarantula Robot'

Description

This page contains soure code, log files and pictures from the practical Building Augmented Elevation Maps with a Tarantula Robot at Rescue Robot Camp, Istituto Superiore Antincend, Rome, Italy, 30.10.2006. Please download this romePractical.pdf for a detailed description on the practical. Furthermore, please contact me if you have any questions.

Download

Get the sample solution here and add it to the source tree you initially got during the camp.

Log files

Mapping ramps and stairs (The resulting map from this log is shown in the 'Pictures' section): 31_10_run3.log (66MB) or the same file with scans only 31_10_run3_scan_only.log.tgz (4MB)

Finished elevation maps in VRML

This file contains the elevation map after the data from the log has been integrated. Colors refer to height values:
heightmap_1st_smoothed.wrl (9MB)

This file contains the elevation map after augmenting it with the information traversable/not traversable (indicated by different colors for each cell):
colored_elevation.wrl (19MB)

Pictures

The colored elevation map after smoothing:


The map after augmenting it with the information traversable/not traversable (indicated by different colors for each cell).


Alexander Kleiner, 21.11.2006