<  Back to the Polytechnique Montréal portal

A motion planning strategy for the active vision-based mapping of ground-level structures

Manikandasriram Srinivasan Ramanagopal, Andre Phu-Van Nguyen and Jérôme Le Ny

Article (2018)

Accepted Version
Terms of Use: All rights reserved.
Download (2MB)
Cite this document: Srinivasan Ramanagopal, M., Nguyen, A. P.-V. & Le Ny, J. (2018). A motion planning strategy for the active vision-based mapping of ground-level structures. IEEE Transactions on Automation Science and Engineering, 15(1), p. 356-368. doi:10.1109/tase.2017.2762088
Show abstract Hide abstract


This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded 3-D structure. We describe motion planning algorithms that determine appropriate successive viewpoints and attempt to fill holes automatically in a point cloud produced by the sensing and perception layer. The emphasis is on accurately reconstructing a 3-D model of a structure of moderate size rather than mapping large open environments, with applications for example in architecture, construction, and inspection. The proposed algorithms do not require any initialization in the form of a mesh model or a bounding box, and the paths generated are well adapted to situations where the vision sensor is used simultaneously for mapping and for localizing the robot, in the absence of additional absolute positioning system. We analyze the coverage properties of our policy, and compare its performance with the classic frontier-based exploration algorithm. We illustrate its efficacy for different structure sizes, levels of localization accuracy, and range of the depth sensor, and validate our design on a real-world experiment.

Uncontrolled Keywords

Active sensing, active simultaneous localization and mapping (SLAM), autonomous inspection, autonomous mapping, motion planning

Open Access document in PolyPublie
Subjects: 2500 Génie électrique et électronique > 2500 Génie électrique et électronique
Department: Département de génie électrique
Research Center: GERAD - Groupe d'études et de recherche en analyse des décisions
Funders: CRSNG/NSERC, Canada Foundation for Innovation, Globalink Fellowship from MITACS
Grant number: 435905-13, 32848
Date Deposited: 13 Feb 2018 12:58
Last Modified: 24 Oct 2018 16:12
PolyPublie URL: https://publications.polymtl.ca/2864/
Document issued by the official publisher
Journal Title: IEEE Transactions on Automation Science and Engineering (vol. 15, no. 1)
Publisher: IEEE
Official URL: https://doi.org/10.1109/tase.2017.2762088


Total downloads

Downloads per month in the last year

Origin of downloads


Repository Staff Only