A probabilistic framework for next best view estimation in a cluttered environment |
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Affiliation: | 1. School of Information and Technology, Northwestern University, Shaanxi, China;2. Xi’an Microelectronics Technology Institute, Shaanxi, China;3. Department of Computer Science, UNC-Charlotte, USA |
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Abstract: | In this article, we present an information gain-based variant of the next best view problem for occluded environment. Our proposed method utilizes a belief model of the unobserved space to estimate the expected information gain of each possible viewpoint. More precise, this belief model allows a more precise estimation of the visibility of occluded space and with that a more accurate prediction of the potential information gain of new viewing positions. We present experimental evaluation on a robotic platform for active data acquisition, however due to the generality of our approach it also applies to a wide variety of 3D reconstruction problems. With the evaluation done in simulation and on a real robotic platform, exploring and acquiring data from different environments we demonstrate the generality and usefulness of our approach for next best view estimation and autonomous data acquisition. |
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Keywords: | Next best view estimation Sensor placement Sensor planning View planning Robot exploration 3-D perception Cluttered environments Missing points |
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