NDLI: An adaptive configuration-space and work-space based criterion for view planning

Content Provider	IEEE Xplore Digital Library
Author	Yifeng Huang Gupta, K.
Copyright Year	2005
Description	Author affiliation: Simon Fraser Univ., Burnaby, BC, Canada (Yifeng Huang; Gupta, K.)
Abstract	We consider the view planning problem, also called, next best view (NBV) problem for sensor based exploration for general robot-sensor systems, where a range scanner is mounted on a robot with non-trivial kinematics, e.g., an eye-in-hand system. Earlier approaches to NBV had considered purely work-space (we also use the term physical-space) based criteria, such as select the view that maximizes the unknown physical-space volume. While this works well for mobile robots (often modeled as point or circle, thereby having trivial geometry and kinematics), it ignores a critical aspect, i.e., to give priority to exploring "manoeuvrable" space around the robot so that it can move to better viewing configurations. Proposed C-space based view planning criteria address this problem. However, C-space criteria (assuming the robot has enough manoeuvrable space) may sacrifice efficiency in work-space volume coverage. For inspection or environment modeling tasks, efficient workspace volume coverage is important. In this paper, we propose an adaptive algorithm that biases the search toward C-space or toward work-space, as needed. We call it adaptive viewpoint candidates entropy (VCE) criterion. Results with different simulated scenes show the effectiveness of this criterion in efficient (in that it needs less scans) exploration of the workspace.
Starting Page	3366
Ending Page	3371
File Size	392967
Page Count	6
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545307
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Kinematics Mobile robots Space exploration Orbital robotics Sensor systems Solid modeling Computational geometry Inspection Adaptive algorithm
Content Type	Text
Resource Type	Article

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