A new method for efficient three-dimensional reconstruction of outdoor environments using mobile robots

Pulido Fentanes, Jaime and Feliz Alonso, Raul and Zalama, Eduardo and Gomez Garcıa-Bermejo, Jaime (2011) A new method for efficient three-dimensional reconstruction of outdoor environments using mobile robots. Journal of Field Robotics, 28 (6). pp. 832-853. ISSN 1556-4959

Full content URL: http://onlinelibrary.wiley.com/doi/10.1002/rob.204...

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A new method for efficient three-dimensional reconstruction of outdoor environments using mobile robots

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Item Type:Article
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Abstract

In this paper, a method for robotic exploration oriented to the automatic three-dimensional (3D) reconstruction of outdoor scenes is presented. The proposed algorithm focuses on optimizing the exploration process by maximizing map quality, while reducing the number of scans required to create a good-quality 3D model of the environment. This is done by using expected information gain, expected model quality, and trajectory cost estimation as criteria for view planning. The method has been tested with an all-terrain mobile robot, which is also described in the paper. This robot is equipped with a SICK LMS 111 laser scanner attached to a spinning turret, which performs quick and complete all-around scans. Different experiments of autonomous 3D exploration show the suitable performance of the proposed exploration algorithm.

Keywords:outdoor mapping, mobile robotics, Exploration
Subjects:G Mathematical and Computer Sciences > G910 Others in Mathematical Sciences
H Engineering > H671 Robotics
Divisions:College of Science > School of Computer Science
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ID Code:17744
Deposited On:24 Jun 2015 13:23

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