Abstract:
In this paper, we introduce a reinforcement learning approach utilizing a novel topology-based information gain metric for directing the next best view of a noisy 3D sens...Show MoreMetadata
Abstract:
In this paper, we introduce a reinforcement learning approach utilizing a novel topology-based information gain metric for directing the next best view of a noisy 3D sensor. The metric combines the disjoint sections of an observed surface to focus on high-detail features such as holes and concave sections. Experimental results show that our approach can aid in establishing the placement of a robotic sensor to optimize the information provided by its streaming point cloud data. Furthermore, a labeled dataset of 3D objects, a CAD design for a custom robotic manipulator, and software for the transformation, union, and registration of point clouds has been publicly released to the research community.
Date of Conference: 30 May 2021 - 05 June 2021
Date Added to IEEE Xplore: 18 October 2021
ISBN Information: