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IROS
2009
IEEE

Developing visual sensing strategies through next best view planning

8 years 12 months ago
Developing visual sensing strategies through next best view planning
— We propose an approach for acquiring geometric 3D models using cameras mounted on autonomous vehicles and robots. Our method uses structure from motion techniques from computer vision to obtain the geometric structure of the scene. To achieve an efficient goal-driven resource deployment, we develop an incremental approach which alternates between an accuracy-driven next best view determination and recursive path planning. The next best view is determined by a novel cost function which quantifies the expected contribution of future viewing configurations. A sensing path for robot motion towards the next best view is then achieved by a cost-driven recursive search of intermediate viewing configurations. We discuss some of the properties of our view cost function in the context of an iterative view planning process and present experimental results on a synthetic environment.
Enrique Dunn, Jur P. van den Berg, Jan-Michael Fra
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Enrique Dunn, Jur P. van den Berg, Jan-Michael Frahm
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