相关论文: Pred-NBV: Prediction-guided Next-Best-View for 3D …

We introduce a method that simultaneously learns to explore new large environments and to reconstruct them in 3D from color images only. This is closely related to the Next Best View problem (NBV), where one has to identify where to move…

Safe navigation in uncertain environments requires planning methods that integrate risk aversion with active perception. In this work, we present a unified framework that refines a coarse reference path by constructing tail-sensitive risk…

We present a classification based approach for the next best view selection and show how we can plausibly obtain a supervisory signal for this task. The proposed approach is end-to-end trainable and aims to get the best possible 3D…

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,…

Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous view planning methods…

Autonomous UAV path planning for 3D reconstruction has been actively studied in various applications for high-quality 3D models. However, most existing works have adopted explore-then-exploit, prior-based or exploration-based strategies,…

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,…

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…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Active object reconstruction is crucial for many robotic applications. A key aspect in these scenarios is generating object-specific view configurations to obtain informative measurements for reconstruction. One-shot view planning enables…

We present a convolutional neural network for joint 3D shape prediction and viewpoint estimation from a single input image. During training, our network gets the learning signal from a silhouette of an object in the input image - a form of…

Reconstructing the shape and spatially varying surface appearances of a physical-world object as well as its surrounding illumination based on 2D images (e.g., photographs) of the object has been a long-standing problem in computer vision…

The problem of inferring object shape from a single 2D image is underconstrained. Prior knowledge about what objects are plausible can help, but even given such prior knowledge there may still be uncertainty about the shapes of occluded…

Some perspectives naturally provide more information than others. How can an AI system determine which viewpoint offers the most valuable insight for accurate and efficient 3D object reconstruction? Active view selection (AVS) for 3D…

Multi-camera 3D object detection for autonomous driving is a challenging problem that has garnered notable attention from both academia and industry. An obstacle encountered in vision-based techniques involves the precise extraction of…

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…

Existing view planning systems either adopt an iterative paradigm using next-best views (NBV) or a one-shot pipeline relying on the set-covering view-planning (SCVP) network. However, neither of these methods can concurrently guarantee both…

The process of planning views to observe a scene is known as the Next Best View (NBV) problem. Approaches often aim to obtain high-quality scene observations while reducing the number of views, travel distance and computational cost.…

Recent advances in 3D perception have shown impressive progress in understanding geometric structures of 3Dshapes and even scenes. Inspired by these advances in geometric understanding, we aim to imbue image-based perception with…

We have developed a new method to estimate a Next Viewpoint (NV) which is effective for pose estimation of simple-shaped products for product display robots in retail stores. Pose estimation methods using Neural Networks (NN) based on an…