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Accelerated Volumetric Next-Best-View Planning in 3D Mapping
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, The Institute of Technology.
2014 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The Next-Best-View (NBV) problem plays an important part in automatic 3D object reconstruction and exploration applications. This thesis presents a novel approach of ray-casting in Occupancy Grid Maps (OGM) in the context of solving the NBV problem in a 3D-exploration setting. The proposed approach utilizes the structure of an octree-based OGM to perform calculations of potential information gain. The computations are significantly faster than current methods, without decreasing mapping quality. Performance, both in terms of mapping quality, coverage and computational complexity, is experimentally verified through a comparison with existing state-of-the-art methods using high-resolution point cloud data generated using time-of-flight laser range scanners.

Current methods for viewpoint ranking focus either heavily on mapping performance or computation speed. The results presented in this thesis indicate that the proposed method is able to achieve a mapping performance similar to the performance-oriented approaches while maintaining the same low computation speed as more approximative methods.

Place, publisher, year, edition, pages
2014. , 56 p.
Keyword [en]
Next Best View, NBV, Sensor Planning, Exploration, 3D Reconstruction, Mapping, Ray-Casting
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:liu:diva-111905ISRN: LiTH-ISY-EX--14/4801--SEOAI: oai:DiVA.org:liu-111905DiVA: diva2:761834
External cooperation
Totalförsvarets Forskningsinstitut
Subject / course
Computer Vision Laboratory
Supervisors
Examiners
Available from: 2014-11-10 Created: 2014-11-07 Last updated: 2014-11-10Bibliographically approved

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AcceleratedVolumetricNbvPlanningIn3dMapping(7874 kB)1018 downloads
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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf