The Surface Edge Explorer (SEE): A measurement-direct approach to next best view planning

@article{Border2022TheSE,
  title={The Surface Edge Explorer (SEE): A measurement-direct approach to next best view planning},
  author={Rowan Border and Jonathan D. Gammell},
  journal={ArXiv},
  year={2022},
  volume={abs/2207.13684}
}
High-quality observations of the real world are crucial for a variety of applications, including producing 3D printed replicas of small-scale scenes and conducting inspections of large-scale infrastructure. These 3D observations are commonly obtained by combining multiple sensor measurements from different views. Guiding the selection of suitable views is known as the Next Best View (NBV) planning problem. Most NBV approaches reason about measurements using rigid data structures (e.g., surface… 

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TLDR
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