Abstract: An autonomous robotic exploration method based on a reduced approximated generalized Voronoi graph, the method including: 1) constructing a reduced approximated generalized Voronoi topological map based on a morphological method; 2) obtaining an Next-Best-View and planning a global path from the robot to the Next-Best-View; and 3) navigating to the Next-Best-View along the global path R={r0, r1, r2, . . . , pNBV} based on a visual force field (VFF) algorithm.

Abstract: A method, including: 1) inputting a multi-story point cloud, and segmenting a story and an inter-story connection region based on an elevation histogram of the point cloud in a vertical direction; 2) segmenting rooms for each story based on a grid map projected onto an XOY plane respectively, wherein the XOY plane is parallel to a flooring; 3) segmenting indoor space cells for each story based on a vector wall line respectively; constructing a vector indoor plan based on superimposition of the vector and the grid for each story respectively; and 5) establishing a three-dimensional model of a multi-story structure by deleting an overlapping surface between the story and the connection region according to the Boolean intersection.

Abstract: An autonomous robotic exploration method based on a reduced approximated generalized Voronoi graph, the method including: 1) constructing a reduced approximated generalized Voronoi topological map based on a morphological method; 2) obtaining an Next-Best-View and planning a global path from the robot to the Next-Best-View; and 3) navigating to the Next-Best-View along the global path R={r0, r1, r2, . . . , pNBV} based on a visual force field (VFF) algorithm.

Abstract: A method, including: 1) inputting a multi-story point cloud, and segmenting a story and an inter-story connection region based on an elevation histogram of the point cloud in a vertical direction; 2) segmenting rooms for each story based on a grid map projected onto an XOY plane respectively, wherein the XOY plane is parallel to a flooring; 3) segmenting indoor space cells for each story based on a vector wall line respectively; constructing a vector indoor plan based on superimposition of the vector and the grid for each story respectively; and 5) establishing a three-dimensional model of a multi-story structure by deleting an overlapping surface between the story and the connection region according to the Boolean intersection.