Automatic Exploration for Dense Map Building

Abstract

A key step for robots to get popularized into our daily life is that robots should be able to automatically explore the new environment when they are deployed in new houses or buildings. In this project, I combine the strength of motion planning (OMPL and SBPL), frontier-based exploration, SLAM (ORB-SLAM2), and object recognition and segmentation (FCIS) techniques to build an automatic mapping system that can autonomously explore the new houses, recognize daily objects and remember their locations while keep building the dense map as it moves. After the map is built, the robot can be asked to find and move to the objects it has seen (like cup, monitor) autonomously.

Videos

Automap with AD* Planning Automap with RRTConnect Planning

Reconstructed Maps

Dense Maps

3D Maps

OctoMap and 2D Occupancy Map