Towards autonomous 3D exploration using surface frontiers
Exploring environments to generate 3D maps is a core component of any autonomous robot expected to operate in search and rescue or security related missions. Considering that information about surface voxels in a 3D grid map is sufficient for many tasks, following a mapping mission, such as motion planning for searching or rescue, this paper presents an exploration strategy guided by surface frontiers rather than free space frontiers to actively map the object surfaces in the environment. Surface frontiers in a 3D grid map are surface boundary voxels neighboring unmapped space. Detecting surface frontiers from a 3D occupancy grid is discussed in detail and a strategy to sample view configurations using the detected surface frontiers for exploration is provided. Exploration experiments conducted in both simulated and real indoor environments validate that surface frontiers are a valid and an efficient alternative for freespace frontiers for autonomous 3D exploration.
2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)