2015
DOI: 10.1002/rob.21612
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Directional Visual Descriptors and Multirobot Strategies for Large‐Scale Coverage Problems

Abstract: Visual coverage of large-scale environments is a key issue for several, important application scenarios, such as large-scale three-dimensional (3D) reconstruction, search and rescue, and active video surveillance. In this paper, we consider a setting where a group of robots, equipped with standard cameras, must fully cover a surrounding area while minimizing associated movement costs. To address this problem, we use a descriptor for visual coverage that encodes a measure of the visual information contained in … Show more

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