DC Field | Value | Language |
---|---|---|
dc.contributor.author | Song, Soohwan | ko |
dc.contributor.author | Jo, Sung-Ho | ko |
dc.date.accessioned | 2018-06-16T07:31:24Z | - |
dc.date.available | 2018-06-16T07:31:24Z | - |
dc.date.created | 2018-06-11 | - |
dc.date.created | 2018-06-11 | - |
dc.date.created | 2018-06-11 | - |
dc.date.issued | 2018-05-23 | - |
dc.identifier.citation | 2018 IEEE International Conference on Robotics and Automation (ICRA), pp.4139 - 4326 | - |
dc.identifier.uri | http://hdl.handle.net/10203/242486 | - |
dc.description.abstract | In this study, we addressed a path planning problem of a mobile robot to construct highly accurate 3D models of an unknown environment. Most studies have focused on exploration approaches, which find the most informative viewpoint or trajectories by analyzing a volumetric map. However, the completion of a volumetric map does not necessarily describe the completion of a 3D model. A highly complicated structure sometimes cannot be represented as a volumetric model. We propose a novel exploration algorithm that considers not only a volumetric map but also reconstructed surfaces. Unlike previous approaches, 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. Experimental results showed that the proposed algorithm performed better than other state-of-the-art exploration methods and especially improved the completeness and confidence of the 3D models. | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society | - |
dc.title | Surface-based Exploration for Autonomous 3D Modeling | - |
dc.type | Conference | - |
dc.identifier.wosid | 000446394503044 | - |
dc.identifier.scopusid | 2-s2.0-85059801524 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 4139 | - |
dc.citation.endingpage | 4326 | - |
dc.citation.publicationname | 2018 IEEE International Conference on Robotics and Automation (ICRA) | - |
dc.identifier.conferencecountry | AT | - |
dc.identifier.conferencelocation | Brisbane Convention & Exhibition Centre, Brisbane | - |
dc.identifier.doi | 10.1109/ICRA.2018.8460862 | - |
dc.contributor.localauthor | Jo, Sung-Ho | - |
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