Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot
Yiduo Wang,Milad Ramezani,Maurice Fallon,Yiduo Wang,Milad Ramezani,Maurice Fallon
In this paper, we develop an online active mapping system to enable a quadruped robot to autonomously survey large physical structures. We describe the perception, planning and control modules needed to scan and reconstruct an object of interest, without requiring a prior model. The system builds a voxel representation of the object, and iteratively determines the Next-Best-View (NBV) to extend th...
