Naslov
Autonomous Exploration of Large Unknown Indoor Environments for Dense 3D Model Building

Autori
Maurović, Ivan ; Đakulović, Marija ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
The 19th World Congress of the International Federation of Automatic Control / - Cape Town, 2014, 10188-10193

Skup
The 19th World Congress of the International Federation of Automatic Control

Mjesto i datum
Cape Town, Južnoafrička Republika, 24.08.2014. - 29.08.2014

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Autonomous exploration; 3D model; 2D exploration; 3D exploration; Room detection

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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