VP-SOM: View-Planning Method for Indoor Active Sparse Object Mapping Based on Information Abundance and Observation Continuity
Jiadong Zhang,
Wei Wang
Abstract:Active mapping is an important technique for mobile robots to autonomously explore and recognize indoor environments. View planning, as the core of active mapping, determines the quality of the map and the efficiency of exploration. However, most current view-planning methods focus on low-level geometric information like point clouds and neglect the indoor objects that are important for human–robot interaction. We propose a novel View-Planning method for indoor active Sparse Object Mapping (VP-SOM). VP-SOM tak… Show more
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