Publication Details
Exploration and Traversable Area Marking for the VisualSLAM
robotics, path planning, stereocamera, target selection
This paper deals with the exploration strategy for a robot
during exploration and 3D map building in an unknown
environment. The mapping algorithm detects the sig-
nificant features, finds correspondences in both images,
matches them together and computes their 3D coordi-
nates. This way the robot incrementally creates a 3D
map of its surroundings and it tries to explore as much
area as possible. The first part of this paper describes the
way of marking the traversable path in the map created
so far. In the second part the goal point selection and
the path planning to this goal point are described. As
the map uses points and triangles to represent the shape
of the surface, the traversable area marking and the path
planning is also done in the map which is represented in
the same way.
@ARTICLE{FITPUB10018,
author = "Jaroslav Rozman",
title = "Exploration and Traversable Area Marking for the VisualSLAM",
pages = 10,
booktitle = "Information Sciences and Technologies Bulletin of the ACM Slovakia",
journal = "Information Sciences and Technologies Bulletin of the ACM Slovakia",
volume = 4,
number = 1,
year = 2012,
ISSN = "1338-1237",
language = "english",
url = "https://www.fit.vut.cz/research/publication/10018"
}