A Next-Best-View Algorithm for 3D Scene Recovery with 5 Degrees of Freedom
نویسندگان
چکیده
We p r e s e n t an algorithm for determining the next best position of a range sensor in 3D space for incrementally recovering an indoor scene. The method works in ve dimensions: the sensor navigates inside the scene, and can be placed at any 3 D position and oriented by a pan-tilt head. The method is based on a mixed exhaustive search and hill climbing optimisation, and outputs the next position in reasonable time. Results are shown on a simulated mobile robot with a simulated range sensor navigating in a CAD model of a scene.
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