Active Path Planning for 3D Reconstruction with UAVs
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2019
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Master Thesis
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yes
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Abstract
Autonomous mobile robots that are able to produce high quality 3D models of objects or scenes of interest are of considerable merit to a rich variety of applications such as inspection, mapping or search and rescue. In this work, a novel, realistic simulation framework as well as a package of tools for sampling based receding horizon path planning research are developed. An algorithm for fully autonomous 3D exploration and reconstruction of a target object in unknown and challenging environments under inclusion of uncertainty is presented. Using directed sensors, the impact of viewpoint orientation and distribution through space is addressed. A number of reconstruction gain and cost formulations are investigated in simulation, where a newly developed 2 stage gain formulation and an efficiency inspired cost perform best. The presented planner is thoroughly tested in simulation and quantitatively shown to outperform a state of the art method and match a manually planned path. The performance of the method is demonstrated qualitatively in a series of experiments on a real platform.
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ETH Zurich
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03737 - Siegwart, Roland Y. (emeritus) / Siegwart, Roland Y. (emeritus)
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Is continued by: http://hdl.handle.net/20.500.11850/402051