Evaluating Guided KLT Tracking for Next Best View Planning in 3D Reconstruction

This report considers the task of 3d reconstruction within a Next Best View (NBV) planning approach. Particular attention is given to the possibilities of extending the well-known Kanade-Lucas-Tomasi (KLT) tracker [1] for the application within a controlled planning framework. The benefit of the tracker’s extensions to the planning procedure is evaluated quantitatively. In relation to general structure-from-motion approaches with passive illumination, a controlled planning setup for 3d reconstruction provides additional knowledge about sensor parameters and may adjust sensor parameters in an active manner. The adjustment of sensor parameters refers to the set of planning goals.