Multi-Sensor Next-Best-View Planning as Matroid-Constrained Submodular Maximization
IEEE Robotics and Automation Letters(2020)
摘要
3D scene models are useful in robotics for tasks such as path planning, object manipulation, and structural inspection. We consider the problem of creating a 3D model using depth images captured by a team of multiple robots. Each robot selects a viewpoint and captures a depth image from it, and the images are fused to update the scene model. The process is repeated until a scene model of desired q...
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关键词
Reactive and sensor-based planning,RGB-D perception,multi-robot systems
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