Work

Integrating One-Shot View Planning With a Single Next-Best View via Long-Tail Multiview Sampling

Year: 2024

Type: article

Abstract: Existing view planning systems either adopt an iterative paradigm using next-best views (NBV) or a one-shot pipeline relying on the set-covering view-planning (SCVP) network. However, neither of these methods can concurrently guarantee both high-quality and high-efficiency reconstruction of 3-D unknown objects. To tackle this challenge, we introduce a crucial hypothesis: with the availability of more information about the unknown object, the prediction quality of the SCVP network improves. There are two ways to provide extra information: first, leveraging perception data obtained from NBVs, and second, training on an expanded dataset of multiview inputs. In this work, we introduce a novel combined pipeline that incorporates a single NBV before activating the proposed multiview-activated (MA-)SCVP network. The MA-SCVP is trained on a multiview dataset generated by our long-tail sampling method, which addresses the issue of unbalanced multiview inputs and enhances the network performance. Extensive simulated experiments substantiate that our system demonstrates a significant surface coverage increase and a substantial 45% reduction in movement cost compared to state-of-the-art systems. Real-world experiments justify the capability of our system for generalization and deployment.

Source: IEEE Transactions on Robotics

DOI: 10.1109/tro.2024.3507993