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An integrated exploration and observation planning for an efficient indoor 3D mapping

机译：集成的勘探和观测计划，可实现高效的室内3D映射

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摘要

This paper describes an observation planning for 3D mapping in unknown indoor environments. The task of the robot is to make a 3D description of informative regions in the environment. The robot makes a plan of visiting viewpoints for observing the regions. Since each viewpoint must be reachable, it is also necessary to obtain a free space map, which is usually generated by exploratory movements. For an efficient mapping, we propose a method which integrates exploration and observation planning. We also show through experiments in a simulated environment that the proposed method is more efficient than the one which deals with exploration and observation separately.
机译：本文介绍了在未知室内环境中进行3D映射的观察计划。机器人的任务是对环境中的信息区域进行3D描述。机器人会制定用于观察区域的观察计划。由于每个视点都必须可达，因此还必须获取通常由探索性运动生成的自由空间图。为了进行有效的制图，我们提出了一种将勘探和观测计划相结合的方法。我们还通过在模拟环境中进行的实验表明，所提出的方法比单独处理勘探和观察方法的方法更为有效。

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