3D Mapping, Localisation and Object Retrieval using Low Cost Robotic Platforms: A Robotic Search Engine for the Real-World

摘要

In this paper we present work in progress on
\nthe development of a low-cost autonomous robotic platform
\nthat integrates multiple state-of-the-art techniques in RGB-D
\nperception to form a system capable of completing a real-world
\ntask in an entirely autonomous fashion. The task we set out to
\ncomplete is determining the location of a preselected object within
\nthe physical world. This experiment requires a robotic framework
\nwith a number of capabilities including autonomous exploration,
\ndense real-time localisation and mapping, object detection, path
\nplanning and motion control.