Related papers: Motion-Uncertainty-Aware Next-Best-View Planning f…
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…
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…
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…
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…
Prediction-based active perception has shown the potential to improve the navigation efficiency and safety of the robot by anticipating the uncertainty in the unknown environment. The existing works for 3D shape prediction make an implicit…
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…
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.…
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…
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…
To carry out autonomous 3D scanning and online reconstruction of unknown indoor scenes, one has to find a balance between global exploration of the entire scene and local scanning of the objects within it. In this work, we propose a novel…
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…
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,…
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…
We naturally step sideways or lean to see around the obstacle when our view is blocked, and recover a more informative observation. Enabling robots to make the same kind of viewpoint choice is critical for human-centered operations,…
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…
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,…
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…
Autonomous robotic tasks require actively perceiving the environment to achieve application-specific goals. In this paper, we address the problem of positioning an RGB camera to collect the most informative images to represent an unknown…
Robotic systems performing end-user oriented autonomous exploration can be deployed in different scenarios which not only require mapping but also simultaneous inspection of regions of interest for the end-user. In this work, we propose a…
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,…