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arXiv · 1905.05833

Supervised Learning of the Next-Best-View for 3D Object Reconstruction

Miguel Mendoza·J. Irving Vasquez-Gomez·Hind Taud·Luis Enrique Sucar·Carolina Reta
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Abstract

Motivated by the advances in 3D sensing technology and the spreading of low-cost robotic platforms, 3D object reconstruction has become a common task in many areas. Nevertheless, the selection of the optimal sensor pose that maximizes the reconstructed surface is a problem that remains open. It is known in the literature as the next-best-view planning problem. In this paper, we propose a novel next-best-view planning scheme based on supervised deep learning. The scheme contains an algorithm for automatic generation of datasets and an original three-dimensional convolutional neural network (3D-CNN) used to learn the next-best-view. Unlike previous work where the problem is addressed as a search, the trained 3D-CNN directly predicts the sensor pose. We present a comparison of the proposed network against a similar net, and we present several experiments of the reconstruction of unknown objects validating the effectiveness of the proposed scheme.

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Miguel Mendoza, J. Irving Vasquez-Gomez, Hind Taud, Luis Enrique Sucar, Carolina Reta. 2019-05-14. Supervised Learning of the Next-Best-View for 3D Object Reconstruction. https://doi.org/10.1016/j.patrec.2020.02.024

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