A Multistage Framework for Autonomous Robotic Mapping with Targeted Metrics
High-quality maps are pertinent to performing tasks requiring precision interaction with the environment. Current challenges with creating a high-precision map come from the need for both high pose accuracy and scan accuracy, and the goal of reliable autonomous performance of the task. In this paper...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-03-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/12/2/39 |
| _version_ | 1797603565633536000 |
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| author | William Smith Yongming Qin Siddharth Singh Hudson Burke Tomonari Furukawa Gamini Dissanayake |
| author_facet | William Smith Yongming Qin Siddharth Singh Hudson Burke Tomonari Furukawa Gamini Dissanayake |
| author_sort | William Smith |
| collection | DOAJ |
| description | High-quality maps are pertinent to performing tasks requiring precision interaction with the environment. Current challenges with creating a high-precision map come from the need for both high pose accuracy and scan accuracy, and the goal of reliable autonomous performance of the task. In this paper, we propose a multistage framework to create a high-precision map of an environment which satisfies the targeted resolution and local accuracy by an autonomous mobile robot. The proposed framework consists of three steps. Each step is intended to aid in resolving the challenges faced by conventional approaches. In order to ensure the pose estimation is performed with high accuracy, a globally accurate coarse map of the environment is created using a conventional technique such as simultaneous localization and mapping or structure from motion with bundle adjustment. The high scan accuracy is ensured by planning a path for the robot to revisit the environment while maintaining a desired distance to all occupied regions. Since the map is to be created with targeted metrics, an online path replanning and pose refinement technique is proposed to autonomously achieve the metrics without compromising the pose and scan accuracy. The proposed framework was first validated on the ability to address the current challenges associated with accuracy through parametric studies of the proposed steps. The autonomous capability of the proposed framework was been demonstrated successfully in its use for a practical mission. |
| first_indexed | 2024-03-11T04:33:51Z |
| format | Article |
| id | doaj.art-41ff80f0ab6443789c69ba2a9053e0c1 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-11T04:33:51Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-41ff80f0ab6443789c69ba2a9053e0c12023-11-17T21:14:11ZengMDPI AGRobotics2218-65812023-03-011223910.3390/robotics12020039A Multistage Framework for Autonomous Robotic Mapping with Targeted MetricsWilliam Smith0Yongming Qin1Siddharth Singh2Hudson Burke3Tomonari Furukawa4Gamini Dissanayake5VICTOR Laboratory, University of Virginia, Charlottesville, VA 22903, USAVICTOR Laboratory, University of Virginia, Charlottesville, VA 22903, USAVICTOR Laboratory, University of Virginia, Charlottesville, VA 22903, USAVICTOR Laboratory, University of Virginia, Charlottesville, VA 22903, USAVICTOR Laboratory, University of Virginia, Charlottesville, VA 22903, USACenter for Autonomous Systems, University of Technology, Sydney, NSW 2007, AustraliaHigh-quality maps are pertinent to performing tasks requiring precision interaction with the environment. Current challenges with creating a high-precision map come from the need for both high pose accuracy and scan accuracy, and the goal of reliable autonomous performance of the task. In this paper, we propose a multistage framework to create a high-precision map of an environment which satisfies the targeted resolution and local accuracy by an autonomous mobile robot. The proposed framework consists of three steps. Each step is intended to aid in resolving the challenges faced by conventional approaches. In order to ensure the pose estimation is performed with high accuracy, a globally accurate coarse map of the environment is created using a conventional technique such as simultaneous localization and mapping or structure from motion with bundle adjustment. The high scan accuracy is ensured by planning a path for the robot to revisit the environment while maintaining a desired distance to all occupied regions. Since the map is to be created with targeted metrics, an online path replanning and pose refinement technique is proposed to autonomously achieve the metrics without compromising the pose and scan accuracy. The proposed framework was first validated on the ability to address the current challenges associated with accuracy through parametric studies of the proposed steps. The autonomous capability of the proposed framework was been demonstrated successfully in its use for a practical mission.https://www.mdpi.com/2218-6581/12/2/39mappingpath planninginspectionmultistageautonomous |
| spellingShingle | William Smith Yongming Qin Siddharth Singh Hudson Burke Tomonari Furukawa Gamini Dissanayake A Multistage Framework for Autonomous Robotic Mapping with Targeted Metrics Robotics mapping path planning inspection multistage autonomous |
| title | A Multistage Framework for Autonomous Robotic Mapping with Targeted Metrics |
| title_full | A Multistage Framework for Autonomous Robotic Mapping with Targeted Metrics |
| title_fullStr | A Multistage Framework for Autonomous Robotic Mapping with Targeted Metrics |
| title_full_unstemmed | A Multistage Framework for Autonomous Robotic Mapping with Targeted Metrics |
| title_short | A Multistage Framework for Autonomous Robotic Mapping with Targeted Metrics |
| title_sort | multistage framework for autonomous robotic mapping with targeted metrics |
| topic | mapping path planning inspection multistage autonomous |
| url | https://www.mdpi.com/2218-6581/12/2/39 |
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