Abstract
In experimental design and 3D reconstruction it is desirable to minimize the number of observations required to reach a prescribed estimation accuracy. Many approaches in the literature attempt to find the next best view from which to measure, and iterate this procedure. This paper discusses a continuous optimization method for finding a whole set of future imaging locations which minimize the reconstruction error of observed geometry along with the distance traveled by the camera between these locations. A computationally efficient iterative algorithm targeted toward application within real-time SLAM systems is presented and tested on simulated data.
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Haner, S., Heyden, A. (2011). Optimal View Path Planning for Visual SLAM. In: Heyden, A., Kahl, F. (eds) Image Analysis. SCIA 2011. Lecture Notes in Computer Science, vol 6688. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21227-7_35
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DOI: https://doi.org/10.1007/978-3-642-21227-7_35
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-21226-0
Online ISBN: 978-3-642-21227-7
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