Intelligent behaviors in outdoor environments
RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
View planning for 3D object reconstruction
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Probabilistic view planner for 3D modelling indoor environments
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Next-best-view planning for 3d object reconstruction under positioning error
MICAI'11 Proceedings of the 10th Mexican international conference on Advances in Artificial Intelligence - Volume Part I
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The incremental recovery of the 3D model of a closed environment is a complex task as it involves several functions: 3D acquisition, data registration and fusion, construction of a 3D triangular mesh or other representations. The sensor must be placed in several positions so that the resulting model is complete (no unseen areas) and has the required resolution. This paper presents a method devoted to the selection of the next best view for a sensor used for 3D modelling of an environment; the objective is to minimise the number of acquisitions and optimise the quality of the final model. From the current sensor position, an optimal next view is selected by the use of utility functions computed for some possible solutions; the method combines exhaustive search and hill climbing optimisation. Thanks to a simulation, results are presented for a synthetic environment, using a virtual 3D sensor on a 5 degrees of freedom robot.