Advertisement
Published in:
2011 | OriginalPaper | Chapter
Next-Best-View Planning for 3D Object Reconstruction under Positioning Error
Authors : Juan Irving Vásquez, L. Enrique Sucar
Published in: Advances in Artificial Intelligence
Publisher: Springer Berlin Heidelberg
Activate our intelligent search to find suitable subject content or patents.
Select sections of text to find matching patents with Artificial Intelligence. powered by
Select sections of text to find additional relevant content using AI-assisted search. powered by
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.