Hybrid Topological and 3D Dense Mapping through Autonomous Exploration for Large Indoor Environments
Clara Gomez,Marius Fehr,Alex Millane,Alejandra C. Hernandez,Juan Nieto,Ramon Barber,Roland Siegwart,Clara Gomez,Marius Fehr,Alex Millane,Alejandra C. Hernandez,Juan Nieto,Ramon Barber,Roland Siegwart
Robots require a detailed understanding of the 3D structure of the environment for autonomous navigation and path planning. A popular approach is to represent the environment using metric, dense 3D maps such as 3D occupancy grids. However, in large environments the computational power required for most state-of-the-art 3D dense mapping systems is compromising precision and real-time capability. In...
