An Approach for Determining the Next Best View Based on Voxel Map and Simplex Method

Aiming at the problem of the next best view, an approach for determining the next best view is proposed by using voxel map and simplex method. Firstly, a range image of the scene is obtained, then a voxel map is created according to the range data and related voxel information is obtained. Secondly, an objective function which considers area, quality, overlap, occlusion, navigation and other factors is defined, and the problem of the next best view is abstracted to the optimization solving problem of objective function. Finally, the simplex method is applied to optimize the objective function. The direction and position corresponding to the optimal solution of the objective function is the next best view. Experimental results show that the proposed approach is feasible and effective.