Related papers: Pred-NBV: Prediction-guided Next-Best-View for 3D …
Next-Best View (NBV) planning is a long-standing problem of determining where to obtain the next best view of an object from, by a robot that is viewing the object. There are a number of methods for choosing NBV based on the observed part…
Active 3D reconstruction of moving objects requires selecting informative viewpoints while accounting for object motion uncertainty during the decision-to-execution delay. Existing methods address only parts of this problem: next-best-view…
Completely capturing the three-dimensional (3D) data of an object is essential in industrial and robotic applications. The task of next-best-view (NBV) planning is to calculate the next optimal viewpoint based on the current data, gradually…
Efficiently and completely capturing the three-dimensional data of an object is a fundamental problem in industrial and robotic applications. The task of next-best-view (NBV) planning is to infer the pose of the next viewpoint based on the…
Actively planning sensor views during object reconstruction is crucial for autonomous mobile robots. An effective method should be able to strike a balance between accuracy and efficiency. In this paper, we propose a seamless integration of…
Implicit neural representations have demonstrated significant promise for 3D scene reconstruction. Recent works have extended their applications to autonomous implicit reconstruction through the Next Best View (NBV) based method. However,…
Reasons for mapping an unknown environment with autonomous robots are wide-ranging, but in practice, they are often overlooked when developing planning strategies. Rapid information gathering and comprehensive structural assessment of…
While recent advances in neural radiance field enable realistic digitization for large-scale scenes, the image-capturing process is still time-consuming and labor-intensive. Previous works attempt to automate this process using the…
UAV-based intelligent data acquisition for 3D reconstruction and monitoring of infrastructure has experienced an increasing surge of interest due to recent advancements in image processing and deep learning-based techniques. View planning…
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,…
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…
Next Best View (NBV) algorithms aim to maximize 3D scene acquisition quality using minimal resources, e.g. number of acquisitions, time taken, or distance traversed. Prior methods often rely on coverage maximization as a proxy for…
Automating the packing of objects with robots is a key challenge in industrial automation, where efficient object perception plays a fundamental role. This paper focuses on scenarios where precise 3D reconstruction is not required,…
In cluttered scenes with inevitable occlusions and incomplete observations, selecting informative viewpoints is essential for building a reliable representation. In this context, 3D Gaussian Splatting (3DGS) offers a distinct advantage, as…
In this paper, we tackle the problem of active robotic 3D reconstruction of an object. In particular, we study how a mobile robot with an arm-held camera can select a favorable number of views to recover an object's 3D shape efficiently.…
The 3D reconstruction of objects is a prerequisite for many highly relevant applications of computer vision such as mobile robotics or autonomous driving. To deal with the inverse problem of reconstructing 3D objects from their 2D…
Transparent object grasping remains a persistent challenge in robotics, largely due to the difficulty of acquiring precise 3D information. Conventional optical 3D sensors struggle to capture transparent objects, and machine learning methods…
With the growing practical interest in vision-based tasks for autonomous systems, the need for efficient and complex methods becomes increasingly larger. In the rush to develop new methods with the aim to outperform the current state of the…
View selection is critical in active 3D neural reconstruction as it impacts the contents of training set and resulting final output quality. Recent view selection strategies emphasize the visibility when evaluating model uncertainty in…
Manually selecting viewpoints or using commonly available flight planners like circular path for large-scale 3D reconstruction using drones often results in incomplete 3D models. Recent works have relied on hand-engineered heuristics such…