Corpus ID: 221586130

Proactive Estimation of Occlusions and Scene Coverage for Planning Next Best Views in an Unstructured Representation

@article{Border2020ProactiveEO,
  title={Proactive Estimation of Occlusions and Scene Coverage for Planning Next Best Views in an Unstructured Representation},
  author={Rowan Border and J. Gammell},
  journal={ArXiv},
  year={2020},
  volume={abs/2009.04515}
}
  • Rowan Border, J. Gammell
  • Published 2020
  • Computer Science
  • ArXiv
  • The process of planning views to observe a scene is known as the Next Best View (NBV) problem. Approaches often aim to obtain high-quality scene observations while reducing the number of views, travel distance and computational cost. Considering occlusions and scene coverage can significantly reduce the number of views and travel distance required to obtain an observation. Structured representations (e.g., a voxel grid or surface mesh) typically use raycasting to evaluate the visibility of… CONTINUE READING