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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 process of building a 3D-model without any geometrical pre-knowledge leads to a planning scheme which uses the 3D data. This article copes with that problem by using and attributed 2D grid combined with an intelligent action planning scheme for indoor environments.
Date of Conference: 20-23 June 2008