Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
10360060 | Journal of Visual Communication and Image Representation | 2014 | 17 Pages |
Abstract
In this article, we present an information gain-based variant of the next best view problem for occluded environment. Our proposed method utilizes a belief model of the unobserved space to estimate the expected information gain of each possible viewpoint. More precise, this belief model allows a more precise estimation of the visibility of occluded space and with that a more accurate prediction of the potential information gain of new viewing positions. We present experimental evaluation on a robotic platform for active data acquisition, however due to the generality of our approach it also applies to a wide variety of 3D reconstruction problems. With the evaluation done in simulation and on a real robotic platform, exploring and acquiring data from different environments we demonstrate the generality and usefulness of our approach for next best view estimation and autonomous data acquisition.
Related Topics
Physical Sciences and Engineering
Computer Science
Computer Vision and Pattern Recognition
Authors
Christian Potthast, Gaurav S. Sukhatme,