LiU Electronic Press
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Author:
Dornhege, C. (University of Freiburg)
Kleiner, Alexander (Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems) (Linköping University, The Institute of Technology)
Title:
A Frontier-Void-Based Approach for Autonomous Exploration in 3D
Department:
Linköping University, Department of Computer and Information Science, Artificial Intelligence and Intergrated Computer systems
Linköping University, The Institute of Technology
Publication type:
Article in journal (Refereed)
Language:
English
Publisher: Taylor and Francis
Status:
Published
In:
Advanced Robotics(ISSN 0169-1864)(EISSN 1568-5535)
Volume:
27
Issue:
6
Pages:
459-468
Year of publ.:
2013
URI:
urn:nbn:se:liu:diva-72517
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72517
ISI:
000316112500005
Subject category:
Engineering and Technology
SVEP category:
TECHNOLOGY
Keywords(en) :
3D exploration, next best view, frontier-void
Project:
Artificial Intelligence & Integrated Computer Systems
Abstract(en) :

We consider the problem of an autonomous robot searching for objects in unknown 3d space. Similar to the well known frontier-based exploration in 2d, the problem is to determine a minimal sequence of sensor viewpoints until the entire search space has been explored. We introduce a novel approach that combines the two concepts of voids, which are unexplored volumes in 3d, and frontiers, which are regions on the boundary between voids and explored space. Our approach has been evaluated on a mobile platform equipped with a manipulator searching for victims in a simulated USAR setup. First results indicate the real-world capability and search efficiency of the proposed method.

Note:

Funding Agencies|Deutsche Forschungsgemeinschaft in the Transregional Collaborative Research Center|SFB/TR8|

Available from:
2011-11-29
Created:
2011-11-28
Last updated:
2013-04-11
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