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ATC: Autonomous Robotic Mapping

Project Details

ATC has been developing a multi-robot system designed to autonomously map the interiors of buildings. Multiple payloads have been developed and adapted to a number of different robots. The purpose of this project was for the team to develop a robot using different Kinect APIs (OpenKinect, Kinect for Windows SDK) in order to evaluate the performance and which works best with the Evolution Robitics ER1 robot.

Project Accomplishments

  • Created "wandering" behavior for our robot platform (ER1) using Kinect as sensor
  • Evaluated open-source 3D SLAM alternatives
    • Assesd out-of-the-box performance
    • Implemented performance enhancements
  • Integrated wander and 3D SLAM
  • Tested, evaluated, documented, recommended