Active Planning of Robot Navigation for 3D Scene Exploration

摘要

This work addresses the active planning of robot navigation tasks for 3D scene exploration. 3D scene exploration is an old and difficult task in robotics. In this paper, we present a strategy to guide a mobile autonomous robot equipped with a camera in order to autonomously explore the unknown 3D scene. By merging the particle filter into 3D scene exploration, we address the robot navigation problem in a heuristic way, and generate a sequence of camera poses to coverage the unknown 3D scene. First, we randomly generate a bunch of potential camera pose vectors. Then, we select the vectors through our criteria. After determining the first camera pose vector, we generate the next group of vectors based on the former one. We select the new camera pose vector and thereafter. We verify the algorithm theoretically and show the good performance in the simulation environment.