基于二维图-SLAM的有效主动探测前沿检测与可达性分析
Frontier Detection and Reachability Analysis for Efficient 2D Graph-SLAM Based Active Exploration
摘要：
我们提出了一种集成的方法，积极探索利用制图方法作为基础SLAM模块的子地图创建和执行有效的边界检测的几何共同对齐的子地图引起的图形优化。我们还进行了边界及其集群的可达性分析，以确保检测到的边界可以通过机器人到达。我们的方法进行了测试，在真实的室内场景中的移动机器人，以证明我们的方法的有效性和效率。
英文摘要：
We propose an integrated approach to active exploration by exploiting the Cartographer method as the base SLAM module for submap creation and performing efficient frontier detection in the geometrically co-aligned submaps induced by graph optimization. We also carry out analysis on the reachability of frontiers and their clusters to ensure that the detected frontier can be reached by robot. Our method is tested on a mobile robot in real indoor scene to demonstrate the effectiveness and efficiency of our approach.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
