Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Offline Viewpoint Planning for Underwater Inspection using Octomap
Submission Author:
Bruno Locks Floriani , SC
Co-Authors:
Bruno Locks Floriani, Lucas Weihmann, Henrique Simas, Narcís Palomeras, PERE RIDAO
Presenter: Bruno Locks Floriani
doi://10.26678/ABCM.COBEM2017.COB17-0474
Abstract
Viewpoint path planning is an essential research area to develop underwater 3D maps for exploring underwater environments. This paper presents a new algorithm to create offline paths for inspecting underwater 3D complex structures and high relief environments. An \emph{a priori} environment representation as an a octree is assumed. The algorithm optimizes the planning in two different steps: first the number of viewpoints and later the path between them.
Keywords
AUV, OctoMap, Viewpoint Planning, Underwater Environment
