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Autonomous world modeling is one of the major topics in current robot research. A basic concept hereby is the registration of consecutive range images. Consistent models can only be built with robust registration methods. Already one incorrect registered range image will affect the following registrations and lead to an inconsistent model. Therefore we(More)
The usage of geometrical 3D-models enables humans to plan and design different aspects of indoor environments. This article describes the next-best-view planner for an autonomous 3D modelling robot using a 3D laser scanner. Besides the human user, the constructed 3D-model can also be used by other autonomous robots for navigation and localization tasks. The(More)
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