Occlusions as a Guide for Planning the Next View
IEEE Transactions on Pattern Analysis and Machine Intelligence
View planning for automated three-dimensional object reconstruction and inspection
ACM Computing Surveys (CSUR)
Perception Planning for an Exploration Task of a 3D Environment
ICPR '02 Proceedings of the 16 th International Conference on Pattern Recognition (ICPR'02) Volume 3 - Volume 3
A review of recent range image registration methods with accuracy evaluation
Image and Vision Computing
Predetermination of ICP Registration Errors And Its Application to View Planning
3DIM '07 Proceedings of the Sixth International Conference on 3-D Digital Imaging and Modeling
View planning for 3D object reconstruction
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Viewpoint planning for automated 3D digitization using a low-cost mobile platform
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Active Sensor Planning for Multiview Vision Tasks
Active Sensor Planning for Multiview Vision Tasks
A next-best-view system for autonomous 3-D object reconstruction
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
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To acquire a 3D model of an object it is necessary to plan a set of locations, called views, where a range sensor will be placed. The problem is solved in greedy manner, by selecting iteratively next-best-views. When a mobile robot is used, we have to take into account positioning errors, given that they can affect the quality and efficiency of the plan. We propose a method to plan “safe views” which are successful even when there is positioning error. The method is based on a reevaluation of the candidate views according to their neighbors, so view points which are safer against positioning error are preferred. The method was tested in simulation with objects of different complexities. Experimental results show that the proposed method achieves similar results as the ideal case without error, reducing the number of views required against the standard approach that does not consider positioning error.