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Surface Edge Explorer (see): Planning Next Best Views Directly from 3D Observations

Abstract:

Surveying 3D scenes is a common task in robotics. Systems can do so autonomously by iteratively obtaining measurements. This process of planning observations to improve the model of a scene is called Next Best View (NBV) planning. NBV planning approaches often use either volumetric (e.g., voxel grids) or surface (e.g., triangulated meshes) representations. Volumetric approaches generalise well between scenes as they do not depend on surface geometry but do not scale to high-resolution models ...

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Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.1109/ICRA.2018.8461098

Authors


More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Oxford college:
Keble College
Role:
Author
Publisher:
Institute of Electrical and Electronics Engineers Publisher's website
Journal:
ICRA 2018 Journal website
Host title:
2018 IEEE International Conference on Robotics and Automation (ICRA), 21-25 May 2018, Bribane, Australia
Publication date:
2018-09-13
Acceptance date:
2018-01-15
DOI:
EISSN:
2577-087X
Source identifiers:
854370
ISBN:
9781538630808
Pubs id:
pubs:854370
UUID:
uuid:b2291c7e-1f2e-4583-9d62-cfc53d177062
Local pid:
pubs:854370
Deposit date:
2018-06-01

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