Information-Seeking Control Under Visibility-Based Uncertainty

Authors:
Luca Valente;Yen-Hsi R. Tsai;Stefano Soatto
Affiliations:
BNP Paribas, New York, USA;University of Texas at Austin, Austin, USA;University of California, Los Angeles, USA
Venue:
Journal of Mathematical Imaging and Vision
Year:
2014

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Abstract

We address the problem of exploring an unknown environment using a range sensor. In the presence of opaque objects of arbitrary shape and topology, exploration is driven by minimization of residual uncertainty, that is primarily due to lack of visibility. The resulting optimal control is approximated with a computationally efficient heuristic, that is proven to complete exploration of a compact environment in a finite number of steps.