Surface Edge Explorer (see): Planning Next Best Views Directly from 3D Observations

@article{Border2018SurfaceEE,
  title={Surface Edge Explorer (see): Planning Next Best Views Directly from 3D Observations},
  author={Rowan Border and Jonathan D. Gammell and Paul Newman},
  journal={2018 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2018},
  pages={1-8}
}
  • Rowan Border, J. Gammell, P. Newman
  • Published 23 February 2018
  • Computer Science, Engineering
  • 2018 IEEE International Conference on Robotics and Automation (ICRA)
Surveying 3D scenes is a common task in robotics. Systems can do so autonomously by iteratively obtaining measurements. This process of planning observations to improve the model of a scene is called Next Best View (NBV) planning. NBV planning approaches often use either volumetric (e.g., voxel grids) or surface (e.g., triangulated meshes) representations. Volumetric approaches generalise well between scenes as they do not depend on surface geometry but do not scale to high-resolution models of… Expand
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