Algorithm for efficient 3D reconstruction of outdoor environments using mobile robots
Algorithm for efficient 3D reconstruction of outdoor environments using mobile robots
复制标题
使用移动机器人高效重建室外环境的 3D 算法
DOI：
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发表时间：
2011
期刊：
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通讯作者：
J. García
中科院分区：
文献类型：
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作者：
J. P. Fentanes;E. Casanova;J. García
本文提出了一种利用移动的机器人重建室外环境的算法。该算法的重点是通过在每次扫描中捕获最大量的信息来提高映射过程的效率，同时确保所产生的环境3D模型的整体质量符合指定的标准。相对于现有的方法，所提出的方法是一个创新，因为有非常少的信息为基础的方法，用于室外重建，使用所得到的模型质量和轨迹成本估计作为标准的视图规划。
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.