Autonomous Robotic Exploration based on Visual Data
Fabio Signorini
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Autonomous Robotic Exploration based on Visual Data

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This work focuses on autonomous 3D coverage of an environment using a camera placed on a mobile robot base. In this computer vision scenario, coverage is intimately related with visibility. This work does not address a particular 3D reconstruction technique but it is more focussed on the definition of custom policies for the coverage of a 3D area having a vision-based acquisition sensor which dynamically explores the environment. The mobile platform is modelled in ROS and we ask it to obtain the "best" possible coverage by exploring the area with certain criteria (i.e. trying to maximize the i...