ICRA 2011 Paper Abstract


Paper WeA210.2

Pulido Fentanes, Jaime (CARTIF), Zalama, Eduardo (Instituo de las Tecnologías de laProducción(ITAP).University of ), Gomez Garcia Bermejo, Jaime (University of Valladolid)

Algorithm for Efficient 3D Reconstruction of Outdoor Environments Using Mobile Robots

Scheduled for presentation during the Regular Sessions "Mapping and Navigation II" (WeA210), Wednesday, May 11, 2011, 10:20−10:35, Room 5E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Mapping, Motion and Path Planning, Autonomous Navigation


In this paper, an algorithm for the reconstruction of an outdoor environment using a mobile robot is presented. The focus of this algorithm is making the mapping process efficient by capturing the greatest amount of information on every scan, ensuring at the same time that the overall quality of the resulting 3D model of the environment complies with the specified standards. With respect to existing approaches, the proposed approach is an innovation since there are very few information based methods for outdoor reconstruction that use resulting model quality and trajectory cost estimation as criteria for view planning



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