Abstract—For all mobiles robots that navigate in unknown outdoor environments two basic tasks are required: discovering navigable space, and obstacles detection. In this work, we have proposed a new variant of the 6d-slam framework, wherein planar patches were used for representing navigable area, and 3d mesh for representing obstacles. A decomposition of the environment in smaller voxels is made by an octree structure. Adjacent voxels with no empty intersection of their best fitting plans should be piece together in the same navigable space; otherwise adjacent non planar voxels would form the seed of potential obstacles. To create global map we take obstacles as natural landmarks, it is however necessary to find the correspondences between landmarks by use of a Bhatacharayya distance. Our experiments demonstrate the functionality of estimating the exact pose of the robot and the consistence of the global map of the environment.

Index Terms—6d-Slam, Bhatacharayya distance, Dot operation, Octree

Cite: Boutine Rachid and Benmohammed Mohamed , "6D-Slam with Navigable Space Discovering ," Journal of Automation and Control Engineering ,  ,, Vol.1, No.2, pp.78-81, June 2013. doi: 10.12720/joace.1.2.78-81