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Efficient Tour Planning for a Measurement Vehicle by Combining Next Best View and Traveling Salesman

: Gehrung, Joachim; Hebel, Marcus; Arens, Michael; Stilla, Uwe

Volltext ()

Paparoditis, N. ; International Society for Photogrammetry and Remote Sensing -ISPRS-:
XXIV ISPRS Congress "Imaging today, foreseeing tomorrow", Commission II : 5-9 July 2021, Nice, postponed to June 2022
Istanbul: ISPRS, 2021 (ISPRS Archives XLIII-B2-2021)
International Society for Photogrammetry and Remote Sensing (ISPRS Congress) <24, 2021, Nice/cancelled>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()
mobile laser scanning; next best view; Traveling Salesman Problem; change detection; Evidence Grids

Path planning for a measuring vehicle requires solving two popular problems from computer science, namely the search for the optimal tour and the search for the optimal viewpoint. Combining both problems results in a new variation of the Traveling Salesman Problem, which we refer to as the Explorational Traveling Salesman Problem. The solution to this problem is the optimal tour with a minimum of observations. In this paper, we formulate the basic problem, discuss it in context of the existing literature and present an iterative solution algorithm. We demonstrate how the method can be applied directly to LiDAR data using an occupancy grid. The ability of our algorithm to generate suitably efficient tours is verified based on two synthetic benchmark datasets, utilizing a ground truth determined by an exhaustive search.