We investigate a path planning of a mobile robot to construct highly accurate 3D models of an unknown environment.We propose a novel exploration algorithm that considers not only a volumetric map but also reconstructed surfaces. We evaluate the model completeness according to the quality of the reconstructed surfaces and extract low-confidence surfaces. The surface information is used to guide the computation of the exploration path.
Related publications
1. S Song, S Jo, Surface-based Exploration for Autonomous 3D Modeling, 2018 IEEE International Conference on Robotics and Automation (ICRA) [LINK] [PDF].
