Autonomous Exploration for 3D Map Learning View Full Text


Ontology type: schema:Chapter      Open Access: True


Chapter Info

DATE

2007

AUTHORS

Dominik Joho , Cyrill Stachniss , Patrick Pfaff , Wolfram Burgard

ABSTRACT

Autonomous exploration is a frequently addressed problem in the robotics community. This paper presents an approach to mobile robot exploration that takes into account that the robot acts in the three-dimensional space. Our approach can build compact three-dimensional models autonomously and is able to deal with negative obstacles such as abysms. It applies a decision-theoretic framework which considers the uncertainty in the map to evaluate potential actions. Thereby, it trades off the cost of executing an action with the expected information gain taking into account possible sensor measurements. We present experimental results obtained with a real robot and in simulation. More... »

PAGES

22-28

Book

TITLE

Autonome Mobile Systeme 2007

ISBN

978-3-540-74763-5
978-3-540-74764-2

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/978-3-540-74764-2_4

DOI

http://dx.doi.org/10.1007/978-3-540-74764-2_4

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1015488485


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