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Choosing Where To Go: Complete 3D Exploration With Stereo

Abstract:

This paper is about the autonomous acquisiti of detailed 3D maps of a-priori unknown environments using stereo camera - it is about choosing where to go. Our approa hinges upon a boundary value constrained partial differenti equation (PDE) - the solution of which provides a scalar fie guaranteed to have no local minima. This scalar field is trivial transformed into a vector field in which following lines of m flow causes provably complete exploration of the environme in full 6 degrees of free...

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Publication status:
Published

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Publisher copy:
10.1109/ICRA.2011.5980121

Authors


Journal:
2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
Pages:
2806-2811
Publication date:
2011
DOI:
ISSN:
1050-4729
URN:
uuid:914152bc-63dc-41b8-9dcd-5ce98b0b49f0
Source identifiers:
377399
Local pid:
pubs:377399
Language:
English

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