Online Next-Best-View Planner for 3D-Exploration and Inspection With a Mobile Manipulator Robot

Robotic systems performing end-user oriented autonomous exploration can be deployed in different scenarios which not only require mapping but also simultaneous inspection of regions interest for the end-user. In this work, we propose a novel Next-Best-View (NBV) planner perform full and user-oriented with using mobile manipulator robot. We address exploration-inspection problem as an instance Multi-Objective Optimization (MOO) weighted-sum-based information gain function computing NBVs RGB-D camera mounted on arm. For both types tasks, compare our approach existing state-of-the-art method baseline demonstrate improvements terms total volume mapped lower computational requirements. The real experiments robot practicability effectiveness outdoors.