Automatic generation for Image Information Added Map considering the surface shape

`Image Information Added Map (IIAM)´ was proposed to show intuitive information for the 2D or 3D measured maps [1]. By using the proposed map, the status of the environment is visually understood, since the best shot picture for each object is collected. However, the previous proposed system supposed that the IIAM is corrected by the teleoperation system, and the human interface was implemented. In this paper, we proposed shooting planning methods to generate IIAM by using an autonomous mobile robot. The feasibility of the autonomous IIAM generation is verified by simulation.