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The proposed system includes comprehensive localization, mapping, path planning, and visualization techniques for a mobile robot to operate autonomously in complex three\u2010dimensional (3D) indoor and outdoor environments. In doing so we integrate robust <jats:italic>visual odometry<\/jats:italic> localization techniques with real\u2010time 3D mapping methods from stereo data to obtain consistent global models annotated with semantic labels. These models are used by a multiregion motion planner that adapts existing two\u2010dimensional planning techniques to operate in 3D terrain. All the system components are evaluated on a variety of real\u2010world data sets, and their computational performance is shown to be favorable for high\u2010speed autonomous navigation. \u00a9 2009 Wiley Periodicals, Inc.<\/jats:p>","DOI":"10.1002\/rob.20313","type":"journal-article","created":{"date-parts":[[2009,9,3]],"date-time":"2009-09-03T17:06:07Z","timestamp":1251997567000},"page":"841-862","source":"Crossref","is-referenced-by-count":50,"title":["Leaving Flatland: Efficient real\u2010time three\u2010dimensional perception and motion planning"],"prefix":"10.1002","volume":"26","author":[{"given":"Radu","family":"Bogdan Rusu","sequence":"first","affiliation":[]},{"given":"Aravind","family":"Sundaresan","sequence":"additional","affiliation":[]},{"given":"Benoit","family":"Morisset","sequence":"additional","affiliation":[]},{"given":"Kris","family":"Hauser","sequence":"additional","affiliation":[]},{"given":"Motilal","family":"Agrawal","sequence":"additional","affiliation":[]},{"given":"Jean\u2010Claude","family":"Latombe","sequence":"additional","affiliation":[]},{"given":"Michael","family":"Beetz","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2009,9,3]]},"reference":[{"key":"e_1_2_1_2_1","doi-asserted-by":"crossref","unstructured":"Agrawal M. &Konolige K.(2006 August).Real\u2010time localization in outdoor environments using stereo vision and inexpensive GPS. 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