Map Building
Task: Given no or partial a priori map, navigate robots in a building to collect data to form a map.
Goal: Algorithms for efficient exploration strategies.
- Minimise time to build the map.
- Coordinate multiple robots.
- Take sensing limitations into account.
Technique: interactions between 2D and 3D.
- Build 2D map using next-best view technique.
- Exploit 2D map to decide where to perform complex 3D sensing operations.