This paper introduces LIVE: Lidar Informed Visual Search focused on the problem of multi-robot (MR) planning and execution for robust visual detection of multiple objects. We perform extensive real-world experiments with a two-robot team in an indoor apartment setting. LIVE acts as a perception module that detects unmapped obstacles, or Short Term Features (STFs), in Lidar observations. STFs are filtered, resulting in regions to be visually inspected by modifying plans online. Lidar Coverage Path Planning (CPP) is employed for generating highly efficient global plans for heterogeneous robot teams. Finally, we present a data model and a demonstration dataset, which can be found by visiting our project website https://sites.google.com/view/live-iros2023/home.

翻译：本文提出LIVE（Lidar Informed Visual Search）方法，解决多机器人规划与执行中实现多目标鲁棒视觉检测的问题。我们在室内公寓场景中利用双机器人团队进行了大量真实环境实验。LIVE作为感知模块，可在激光雷达观测中检测未映射障碍物或短期特征（STFs），通过在线修改规划过滤STF并生成需进行视觉检查的区域。采用激光雷达覆盖路径规划（CPP）为异构机器人团队生成高效全局规划。最后，我们提出一种数据模型与演示数据集，可访问项目网站https://sites.google.com/view/live-iros2023/home 获取。