Navigating Autonomous Three-dimensional Interactive Virtualization Environment

Navigating Autonomous Three-dimensional Interactive Virtualization Environment

Presentation on 2016-12-02

Student Researchers: Abdulwahaab Arif, Tariq Habib, Brendan Kittinger, William McGovern, Boris Reinosa, and Matthew Schell

Faculty Advisors: Daniel Lofaro, Jill Nelson

We developed a navigation system that can explore and map an entire floor in both 3D and 2D using a differential drive robot and an RGB-D sensor. In addition, we periodically saved these maps on a remote server where a user can view the progress in real-time and be able to download the map in either 3D, 2D, or according to the IEEE Std. 1873-2015. The navigation system was expected to explore the 3rd floor of the Nguyen Engineering Building of George Mason University in less than six hours. The resulting maps would be transformed to ensure that they are accurate within 5% deviation from the floor plans. Finally, the map was tested on another robot to assess its usefulness for navigation purposes.