2022/01/27 by Menaka Naazare, Francisco Garcia Rosas, Dirk Schulz · 49 citations
Computer Science · Engineering · #Advanced Vision and Imaging #Artificial intelligence #Baseline (sea) #Computer science #Computer vision #Human–computer interaction #Mobile manipulator #Mobile robot #Planner #Real-time computing #Robot #Robotic Path Planning Algorithms #Robotic arm #Robotics and Sensor-Based Localization #cs.RO
paper · pdf · doi:10.1109/lra.2022.3146558
published in IEEE Robotics and Automation Letters 7(2), 3779-3786 (Institute of Electrical and Electronics Engineers)
openalex publication_date 2022/01/27 · openalex created_date 2022/02/08 · arxiv created 2022/03/18 · arxiv updated 2022/03/22 · openalex updated_date 2026/08/05
Robotic systems performing end-user oriented autonomous exploration can be deployed in different scenarios which not only require mapping but also simultaneous inspection of regions of interest for the end-user. In this work, we propose a novel Next-Best-View (NBV) planner which can perform full exploration and user-oriented exploration with inspection of the regions of interest using a mobile manipulator robot. We address the exploration-inspection problem as an instance of Multi-Objective Optimization (MOO) and propose a weighted-sum-based information gain function for computing NBVs for the RGB-D camera mounted on the arm. For both types of exploration tasks, we compare our approach with an existing state-of-the-art exploration method as the baseline and demonstrate our improvements in terms of total volume mapped and lower computational requirements. The real experiments with a mobile manipulator robot demonstrate the practicability and effectiveness of our approach outdoors.