A novel 3D sensory system for robot-assisted mapping of cluttered urban search and rescue environments

  title={A novel 3D sensory system for robot-assisted mapping of cluttered urban search and rescue environments},
  author={Zhe Zhang and Goldie Nejat and Hong Guo and Peisen Huang},
  journal={Intelligent Service Robotics},
In this paper, the first application of utilizing a unique 3D sensor for sequential 3D map building in unknown cluttered urban search and rescue (USAR) environments is proposed. The sensor utilizes a digital fringe projection and phase shifting technique to provide real-time 2D and 3D sensory information of the environment. The proposed sensor is unique over current technologies in that high-resolution 3D information of rubble filled environments can be acquired from the single sensor at a… CONTINUE READING
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