Exploration and Traversable Area Marking for the VisualSLAM

This paper deals with the exploration strategy for a robot during exploration and 3D map building in an unknown environment. The mapping algorithm detects the significant features, finds correspondences in both images, matches them together and computes their 3D coordinates. This way the robot incrementally creates a 3D map of its surroundings and it tries to explore as much area as possible. The first part of this paper describes the way of marking the traversable path in the map created so far. In the second part the goal point selection and the path planning to this goal point are described. As the map uses points and triangles to represent the shape of the surface, the traversable area marking and the path planning is also done in the map which is represented in the same way.