Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 06, 2021 - June 08, 2021
Recently, many public facilities have been promoted to be barrier-free. In such a situation, an accessibility map that indicates areas that are drivable and areas that are not drivable, such as steps and slopes is very effective for wheelchairs and strollers. This research focuses on viewpoint planning for autonomous 3D measurement by a mobile robot in order to create an accessibility map. For efficient 3D measurements, the viewpoint planning should be done to reduce the size of unknown regions. We plan viewpoints based on the frontier, which is the boundary between the known and the unknown regions. We verify the effectiveness of the proposed method in simulation and by a real robot environment.
