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Estimation, Search, and Planning (ESP) Research Group

Surface Edge Explorer (SEE++)

Source Code

An open-source version of SEE++ is now available. You can find SEE++ on our Github repository and usage instructions on the Doxygen webpage.


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.

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  1. RBorderJDGammellPNewmanSurface Edge Explorer (SEE): Planning next best views directly from 3D observationsProceedings of the IEEE international conference on robotics and automation (ICRA)1–8Brisbane, Australia
  2. RBorderJDGammellProactive estimation of occlusions and scene coverage for planning next best views in an unstructured representationProceedings of the IEEE/RSJ international conference on intelligent robots and systems (IROS)