Related papers: Multi-Sensor Next-Best-View Planning as Matroid-Co…
Motivated by the advances in 3D sensing technology and the spreading of low-cost robotic platforms, 3D object reconstruction has become a common task in many areas. Nevertheless, the selection of the optimal sensor pose that maximizes the…
To image in high resolution large and occlusion-prone scenes, a camera must move above and around. Degradation of visibility due to geometric occlusions and distances is exacerbated by scattering, when the scene is in a participating…
Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…
The problem of finding a next best viewpoint for 3D modeling or scene mapping has been explored in computer vision over the last decade. This paper tackles a similar problem, but with different characteristics. It proposes a method for…
We can only allow human-robot-cooperation in a common work cell if the human integrity is guaranteed. A surveillance system with multiple cameras can detect collisions without contact to the human collaborator. A failure safe system needs…
Sensor placement optimization methods have been studied extensively. They can be applied to a wide range of applications, including surveillance of known environments, optimal locations for 5G towers, and placement of missile defense…
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…
Next Best View computation (NBV) is a long-standing problem in robotics, and consists in identifying the next most informative sensor position(s) for reconstructing a 3D object or scene efficiently and accurately. Like most current methods,…
Many applications including object reconstruction, robot guidance, and scene mapping require the registration of multiple views from a scene to generate a complete geometric and appearance model of it. In real situations, transformations…
Camera equipped drones are nowadays being used to explore large scenes and reconstruct detailed 3D maps. When free space in the scene is approximately known, an offline planner can generate optimal plans to efficiently explore the scene.…
Observing and filming a group of moving actors with a team of aerial robots is a challenging problem that combines elements of multi-robot coordination, coverage, and view planning. A single camera may observe multiple actors at once, and a…
We propose a framework for active next best view and touch selection for robotic manipulators using 3D Gaussian Splatting (3DGS). 3DGS is emerging as a useful explicit 3D scene representation for robotics, as it has the ability to represent…
3D reconstruction is a core task in many applications such as robot navigation or sites inspections. Finding the best poses to capture part of the scene is one of the most challenging topic that goes under the name of Next Best View.…
The Next Best View (NBV) problem is a pivotal challenge in 3D robotic scanning, with the potential to significantly improve the efficiency of object capture and reconstruction. Existing methods for determining the NBV often overlook view…
Multi-camera surveillance has been an active research topic for understanding and modeling scenes. Compared to a single camera, multi-cameras provide larger field-of-view and more object cues, and the related applications are multi-view…
The great flexibility of a view camera allows to take high quality photographs that would not be possible any other way. But making a given object into focus is a long and tedious task, although the underlying laws are well known. This…
In this paper, we present a new approach to visual servoing for robotics, referred to as 3D Move to See (3DMTS), based on the principle of finding the next best view using a 3D camera array and a robotic manipulator to obtain multiple…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Automated three-dimensional (3D) object reconstruction is the task of building a geometric representation of a physical object by means of sensing its surface. Even though new single view reconstruction techniques can predict the surface,…
We propose a novel iterative method for optimally placing and orienting multiple cameras in a 3D scene. Sample applications include improving the accuracy of 3D reconstruction, maximizing the covered area for surveillance, or improving the…