Decentralized active information acquisition: Theory and application to multi-robot SLAM

N Atanasov, J Le Ny, K Daniilidis… - 2015 IEEE International …, 2015 - ieeexplore.ieee.org
This paper addresses the problem of controlling mobile sensing systems to improve the
accuracy and efficiency of gathering information autonomously. It applies to scenarios such …

[PDF][PDF] Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping.

B Charrow, G Kahn, S Patil, S Liu… - Robotics: Science …, 2015 - roboticsproceedings.org
We propose an information-theoretic planning approach that enables mobile robots to
autonomously construct dense 3D maps in a computationally efficient manner. Inspired by …

[PDF][PDF] Probabilistic Semi-Dense Mapping from Highly Accurate Feature-Based Monocular SLAM.

R Mur-Artal, JD Tardós - Robotics: Science and Systems, 2015 - researchgate.net
In the last years several direct (ie featureless) monocular SLAM approaches have appeared
showing impressive semi-dense or dense scene reconstructions. These works have …

Plan3d: Viewpoint and trajectory optimization for aerial multi-view stereo reconstruction

B Hepp, M Nießner, O Hilliges - ACM Transactions on Graphics (TOG), 2018 - dl.acm.org
We introduce a new method that efficiently computes a set of viewpoints and trajectories for
high-quality 3D reconstructions in outdoor environments. Our goal is to automatically …

[PDF][PDF] Aerial path planning for urban scene reconstruction: A continuous optimization method and benchmark

N Smith, N Moehrle, M Goesele, W Heidrich - 2018 - repository.kaust.edu.sa
Small unmanned aerial vehicles (UAVs) are ideal capturing devices for high-resolution
urban 3D reconstructions using multi-view stereo. Nevertheless, practical considerations …

View path planning via online multiview stereo for 3-d modeling of large-scale structures

S Song, D Kim, S Choi - IEEE Transactions on Robotics, 2021 - ieeexplore.ieee.org
This study addresses a view-path-planning problem during 3-D scanning of a large-scale
structure based on multiview stereo (MVS) for unmanned aerial platforms. Recently, most …

Online inspection path planning for autonomous 3D modeling using a micro-aerial vehicle

S Song, S Jo - 2017 IEEE International Conference on Robotics …, 2017 - ieeexplore.ieee.org
In this paper, we propose a novel algorithm for planning exploration paths to generate 3D
models of unknown environments by using a micro-aerial vehicle (MAV). Our algorithm …

Learn-to-score: Efficient 3d scene exploration by predicting view utility

B Hepp, D Dey, SN Sinha, A Kapoor… - Proceedings of the …, 2018 - openaccess.thecvf.com
Camera equipped drones are nowadays being used to explore large scenes and
reconstruct detailed 3D maps. When free space in the scene is approximately known, an …

Active vision for robot manipulators using the free energy principle

T Van de Maele, T Verbelen, O Çatal… - Frontiers in …, 2021 - frontiersin.org
Occlusions, restricted field of view and limited resolution all constrain a robot's ability to
sense its environment from a single observation. In these cases, the robot first needs to …

Bag of views: An appearance-based approach to next-best-view planning for 3d reconstruction

SH Gazani, M Tucsok, I Mantegh… - IEEE Robotics and …, 2023 - ieeexplore.ieee.org
UAV-based intelligent data acquisition for 3D reconstruction and monitoring of infrastructure
has experienced an increasing surge of interest due to recent advancements in image …