Elisavet Konstantina Stathopoulou

Autonomous 3-D Reconstruction, Mapping, and Exploration of Indoor Environments With a Robotic Arm

We propose a novel information gain metric that combines hand-crafted and data-driven metrics to address the next best view problem for autonomous 3-D mapping of unknown indoor environments. For the hand-crafted metric, we propose an entropy-based information gain that accounts for the previous view