Conversion of mesh map using surface parameterization for 3D coverage path planner

Abstract

The maps used in coverage path planners are generally classified into voxel, surfel, and pointcloud maps. However, these three types of maps possess the possibility to include errors from utilizing sensor information directly. In this research, we propose a method to convert the mesh map, which has high accuracy and precision based on ComputerAided Design, to a parameterized surface. A map was transformed through surface parametrization, then a simple circular coverage path planner was applied on the transformed map to validate the use of surface parametrization. Thus, it was shown that the proposed method enables efficient and accurate coverage path planning.