TY - GEN
T1 - Next-best-view planning for 3D object reconstruction under positioning error
AU - Vásquez, Juan Irving
AU - Sucar, L. Enrique
PY - 2011
Y1 - 2011
N2 - To acquire a 3D model of an object it is necessary to plan a set of locations, called views, where a range sensor will be placed. The problem is solved in greedy manner, by selecting iteratively next-best-views. When a mobile robot is used, we have to take into account positioning errors, given that they can affect the quality and efficiency of the plan. We propose a method to plan "safe views" which are successful even when there is positioning error. The method is based on a reevaluation of the candidate views according to their neighbors, so view points which are safer against positioning error are preferred. The method was tested in simulation with objects of different complexities. Experimental results show that the proposed method achieves similar results as the ideal case without error, reducing the number of views required against the standard approach that does not consider positioning error.
AB - To acquire a 3D model of an object it is necessary to plan a set of locations, called views, where a range sensor will be placed. The problem is solved in greedy manner, by selecting iteratively next-best-views. When a mobile robot is used, we have to take into account positioning errors, given that they can affect the quality and efficiency of the plan. We propose a method to plan "safe views" which are successful even when there is positioning error. The method is based on a reevaluation of the candidate views according to their neighbors, so view points which are safer against positioning error are preferred. The method was tested in simulation with objects of different complexities. Experimental results show that the proposed method achieves similar results as the ideal case without error, reducing the number of views required against the standard approach that does not consider positioning error.
KW - Modeling
KW - Next-Best-View
KW - Object Reconstruction
KW - Planning
KW - View Planning
UR - http://www.scopus.com/inward/record.url?scp=82555191205&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-25324-9_37
DO - 10.1007/978-3-642-25324-9_37
M3 - Contribución a la conferencia
AN - SCOPUS:82555191205
SN - 9783642253232
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 429
EP - 442
BT - Advances in Artificial Intelligence - 10th Mexican International Conference on Artificial Intelligence, MICAI 2011, Proceedings
T2 - 10th Mexican International Conference on Artificial Intelligence, MICAI 2011
Y2 - 26 November 2011 through 4 December 2011
ER -