Multi-Sensor Next-Best-View Planning as Matroid-Constrained Submodular Maximization
IEEE Robotics and Automation Letters, pp. 5323-5330, 2020.
We prove our utility function is monotonically increasing and submodular, and show how single-sensor NBV planning arises as a special case when sensor views do not overlap
3D scene models are useful in robotics for tasks such as path planning, object manipulation, and structural inspection. We consider the problem of creating a 3D model using depth images captured by a team of multiple robots. Each robot selects a viewpoint and captures a depth image from it, and the images are fused to update the scene mod...More
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