Autonomous Exploration of Large Unknown Indoor Environments for Dense 3D Model Building (CROSBI ID 612297)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Maurović, Ivan ; Đakulović, Marija ; Petrović, Ivan
engleski
Autonomous Exploration of Large Unknown Indoor Environments for Dense 3D Model Building
Autonomous exploration and mapping of indoor environments is important task for building inspections. Mapping of large environments in 3D requires high memory and computational consumptions. In this paper, we present a 3D exploration strategy for a mobile robot equipped with a 3D laser scanner. Our strategy does not require a map of the environment and ensures on-line exploration of large unknown spaces. We propose a room detection algorithm and focus on the room-by-room exploration keeping the memory and computational requirements low. We evaluated our strategy by simulations and experimentally using a real mobile robot.
Autonomous exploration; 3D model; 2D exploration; 3D exploration; Room detection
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Podaci o prilogu
10188-10193.
2014.
objavljeno
Podaci o matičnoj publikaciji
The 19th World Congress of the International Federation of Automatic Control
Cape Town:
Podaci o skupu
The 19th World Congress of the International Federation of Automatic Control
predavanje
24.08.2014-29.08.2014
Cape Town, Južnoafrička Republika