Hierarchical ray tracing for fast volumetric next-best-view planning

J. Irving Vasquez-Gomez, L. Enrique Sucar, Rafael Murrieta-Cid

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

21 Scopus citations

Abstract

A mobile robot must have the ability of building a representation of its environment and the objects in it. To build a three-dimensional (3D) model of a physical object, several scans must be taken at different locations. Selecting each location is the next-best-view problem. Search based methods, where candidate views are generated and evaluated by a utility function, are a solution. However, such methods are slow for high resolution models given that the evaluation requires visibility computation in 3D. We propose a scene representation by octrees with a hierarchical ray tracing that reduces the visibility computation time. Such method performs a coarse ray tracing, except for the interesting volumes where a finer resolution is applied. The method decreases the computation time at least one order of magnitude. Saving time with this method leads to evaluate more constraints and more candidate views in high resolution models.

Original languageEnglish
Title of host publicationProceedings - 2013 International Conference on Computer and Robot Vision, CRV 2013
Pages181-187
Number of pages7
DOIs
StatePublished - 2013
Event10th International Conference on Computer and Robot Vision, CRV 2013 - Regina, SK, Canada
Duration: 29 May 201331 May 2013

Publication series

NameProceedings - 2013 International Conference on Computer and Robot Vision, CRV 2013

Conference

Conference10th International Conference on Computer and Robot Vision, CRV 2013
Country/TerritoryCanada
CityRegina, SK
Period29/05/1331/05/13

Keywords

  • mapping
  • next best view
  • object modeling
  • view planning

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