Multi-Sensor Next-Best-View Planning as Matroid-Constrained Submodular Maximization

IEEE Robotics and Automation Letters, pp. 5323-5330, 2020.

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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

Abstract:

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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