Systems and Means of Informatics
2021, Volume 31, Issue 2, pp 59-69
INDOOR EXPLORATION STRATEGY FOR AUTONOMOUS MOBILE ROBOT BASED ON DIRECTION MAP
- O. A. Yakovlev
- P. O. Arkhipov
Abstract
The paper focuses on the variant of autonomous exploration problem that implies three-dimensional (3D) reconstruction of an unknown environment by moving a mobile robot with optical sensor through the environment. The authors introduce a data structure called direction map that accumulates information about viewpoints for every region of the scene. A direction map is used to formulate an exploration strategy according to the next-best-view principle. This strategy can be efficiently implemented using rectangular partition of an orthogonal polygon and integral matrices. Experimental evaluation of the proposed strategy is done in virtual environment. Completeness of the resulting 3D model is evaluated by comparison with the ground truth.
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[+] About this article
Title
INDOOR EXPLORATION STRATEGY FOR AUTONOMOUS MOBILE ROBOT BASED ON DIRECTION MAP
Journal
Systems and Means of Informatics
Volume 31, Issue 2, pp 59-69
Cover Date
2021-05-20
DOI
10.14357/08696527210206
Print ISSN
0869-6527
Publisher
Institute of Informatics Problems, Russian Academy of Sciences
Additional Links
Key words
3D reconstruction; indoor exploration; autonomous mobile robot
Authors
O. A. Yakovlev  and P. O. Arkhipov
Author Affiliations
Orel Branch of the Federal Research Center "Computer Science and Control" of the Russian Academy of Sciences, 5 Gostinaya Str., Kaliningrad 236000, Russian Federation
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