Algorithm for efficient 3D reconstruction of outdoor environments using mobile robots

Pulido Fentanes, Jaime and Zalama, Eduardo and Gomez-Garcia-Bermejo, Jamie (2011) Algorithm for efficient 3D reconstruction of outdoor environments using mobile robots. In: 2011 IEEE International Conference on Robotics and Automation, 9-13 May 2011, Shanghai, China.

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Abstract

In this paper, an algorithm for the reconstruction of an outdoor environment using a mobile robot is presented. The focus of this algorithm is making the mapping process efficient by capturing the greatest amount of information on every scan, ensuring at the same time that the overall quality of the resulting 3D model of the environment complies with the specified standards. With respect to existing approaches, the proposed approach is an innovation since there are very few information based methods for outdoor reconstruction that use resulting model quality and trajectory cost estimation as criteria for view planning.

Keywords:Mobile robots, Three dimensional Modelling, Robotic Exploration, Solid modeling, Navigation, 3D Simulation
Subjects:H Engineering > H671 Robotics
Divisions:College of Science > School of Computer Science
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ID Code:29947
Deposited On:29 Jan 2018 14:01

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