Surface Edge Explorer (SEE++)
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Source Code
An open-source version of SEE++ is available. You can find SEE++ on our Github repository and usage instructions on the Doxygen webpage.
Description
The Surface Edge Explorer (SEE++) is a Next Best View (NBV) planning approach that uses a novel unstructured density representation to efficiently obtain complete scene observations. SEE++ uses point-based computations to identify boundaries in a scene observation, propose new views to extend the observation and select a next best view while proactively considering occlusions and the attainable improvement in scene coverage. Experimental results show that SEE++ outperforms NBV planning approaches with volumetric representations in terms of the computational cost, travel distance and number of views required to obtain complete scene observations.
Bibliography
- Publication
- Journal
- The International Journal of Robotics Research (IJRR)
- Volume
- 43
- Number
- 10
- Pages
- 1506–1532
- Date
- Publication
- Conference
- Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Pages
- 4219–4226
- Date
- Publication
- Type
- D.Phil. Thesis
- School
- University of Oxford
- Date
- Publication
- Conference
- Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
- Pages
- 1–8
- Location
- Brisbane, Australia
- Date