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  • Research Article
  • Open Access

Autonomous Robot Navigation in Human-Centered Environments Based on 3D Data Fusion

EURASIP Journal on Advances in Signal Processing20072007:086831

  • Received: 1 December 2005
  • Accepted: 17 December 2006
  • Published:


Efficient navigation of mobile platforms in dynamic human-centered environments is still an open research topic. We have already proposed an architecture (MEPHISTO) for a navigation system that is able to fulfill the main requirements of efficient navigation: fast and reliable sensor processing, extensive global world modeling, and distributed path planning. Our architecture uses a distributed system of sensor processing, world modeling, and path planning units. In this arcticle, we present implemented methods in the context of data fusion algorithms for 3D world modeling and real-time path planning. We also show results of the prototypic application of the system at the museum ZKM (center for art and media) in Karlsruhe.


  • Path Planning
  • Data Fusion
  • Sensor Processing
  • Mobile Platform
  • Autonomous Robot

Authors’ Affiliations

Institute for Computer Science and Engineering (CSE), University of Karlsruhe (TH), Haid-und-Neu-Straße 7, Karlsruhe, 76131, Germany


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© Peter Steinhaus et al. 2007

This article is published under license to BioMed Central Ltd. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.