Adaptive 3D Scanning and View Planning for Autonomous Mobile Robots: Field Implementation in Cluttered and Unknown Environments

Abstract

AbstractThis paper presents a field-deployable autonomous 3D scanning framework capable of self-decision-making in unknown, cluttered outdoor environments. The proposed system introduces a two-level decision logic that enables a robot to independently ...Practical ApplicationsThis paper documents a field-deployable workflow for autonomous 3D scanning in cluttered, unknown outdoor sites such as disaster sites and active construction areas. The system combines a two-level decision flow—Level-1 frontier-...