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Submodular Trajectory Optimization for Aerial 3D Scanning [article]

Mike Roberts, Debadeepta Dey, Anh Truong, Sudipta Sinha, Shital Shah, Ashish Kapoor, Pat Hanrahan, Neel Joshi
2017 arXiv   pre-print
Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can  ...  We present an automatic method to generate drone trajectories, such that the imagery acquired during the flight will later produce a high-fidelity 3D model.  ...  Acknowledgements We thank Jim Piavis and Ross Robinson for their expertise as our safety pilots; Don Gillett for granting us permission to scan the barn scene; 3D Robotics for granting us permission to  ... 
arXiv:1705.00703v3 fatcat:yzhhgpzexzbm7cswrznq6mgbtu

Plan3D: Viewpoint and Trajectory Optimization for Aerial Multi-View Stereo Reconstruction [article]

Benjamin Hepp, Matthias Nießner, Otmar Hilliges
2018 arXiv   pre-print
We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments.  ...  Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a region of interest (e.g., a large building).  ...  METHOD In this section, we discuss our optimization framework to obtain viewpoint trajectories for 3D scanning.  ... 
arXiv:1705.09314v2 fatcat:6ghwhj77rbckrhtlcjoyjk4uyi

Sampling-Based Path Planning for High-Quality Aerial 3D Reconstruction of Urban Scenes

Feihu Yan, Enyong Xia, Zhaoxin Li, Zhong Zhou
2021 Remote Sensing  
The experimental results indicate that the optimized trajectory generated by our method can lead to a significant boost in the performance of aerial 3D urban reconstruction.  ...  Unmanned aerial vehicles (UAVs) can capture high-quality aerial photos and have been widely used for large-scale urban 3D reconstruction.  ...  Our goal is to plan an optimized 3D trajectory for overall aerial scanning in urban scenes, where following this path could help to improve the accuracy and completeness of the final reconstruction.  ... 
doi:10.3390/rs13050989 doaj:9339ae9744d44cb2a44b5d1b7b979b4c fatcat:qrggr7vraregzawrsfw2doztwm

Next-Best-View planning for surface reconstruction of large-scale 3D environments with multiple UAVs

Guillaume Hardouin, Julien Moras, Fabio Morbidi, Julien Marzat, El Mustapha Mouaddib
2020 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Unfortunately, this approach may lead to inaccurate 3D models, with no guarantee of global surface coverage.  ...  In the majority of existing informative path-planning methods, a volumetric criterion is used for the exploration of unknown areas, and the presence of surfaces is only taken into account indirectly.  ...  The UAVs should scan an unknown 3D environment (for instance, a building), characterized by its surface.  ... 
doi:10.1109/iros45743.2020.9340897 fatcat:w5pvjeduenh2la62hqwa5ea6eq

Analysis and Augmentation of Human Performance on Telerobotic Search Problems

Kuo-Shih Tseng, Berenice Mettler
2020 IEEE Access  
The paper describes a technique for augmenting human search. Since the objective functions in search problems are submodular, greedy algorithms can generate near-optimal subgoals.  ...  Search is an essential technology for rescue and other mobile robot applications. Many robotic search and rescue systems rely on teleoperation.  ...  ACKNOWLEDGMENT The authors thank the ten human subjects for their participation in the experiments.  ... 
doi:10.1109/access.2020.2981978 fatcat:bltvfi77ljf3poecnhtoiftykm

A Review on Viewpoints and Path-planning for UAV-based 3D Reconstruction [article]

Mehdi Maboudi, MohammadReza Homaei, Soohwan Song, Shirin Malihi, Mohammad Saadatseresht, Markus Gerke
2022 arXiv   pre-print
Unmanned aerial vehicles (UAVs) are widely used platforms to carry data capturing sensors for various applications.  ...  This review paper investigates a wide range of model-free and model-based algorithms for viewpoint and path planning for 3D reconstruction of large-scale objects.  ...  Gerke would like to thank the DFG for the support within the SFB/Transregio 277-Additive manufacturing in construction. (Subproject C06).  ... 
arXiv:2205.03716v1 fatcat:y6ry5ednv5hv3cm6fgbggcz6dq

THREE-DIMENSIONAL PATH PLANNING OF UAVS IMAGING FOR COMPLETE PHOTOGRAMMETRIC RECONSTRUCTION

S. Zhang, C. Liu, N. Haala
2020 ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
Lightweight unmanned aerial vehicles (UAVs) have been widely used in image acquisition for 3D reconstruction.  ...  We propose a 3D path planning method for multirotor UAVs aiming at capturing images for complete and precise photogrammetric 3D reconstructions.  ...  Our future work may introduce trajectory optimization or multi-drone collaboration method to reduce the energy or time cost.  ... 
doi:10.5194/isprs-annals-v-1-2020-325-2020 fatcat:n5ikzdk4izauflxm6vpkmbtfnm

Table of Contents

2022 IEEE Robotics and Automation Letters  
Tadokoro 3D Vision Based Robot Assisted Electrical Impedance Scanning for Soft Tissue Conductivity Sensing . . . . . . . . . . . . . . . .  ...  Meng Trajectory Optimization and Model Predictive Control for Functional Electrical Stimulation-Controlled Reaching . . . . . .  ... 
doi:10.1109/lra.2022.3165102 fatcat:enjzebowe5hn7hsfwklc7nieuy

Efficient Informative Sensing using Multiple Robots

A. Singh, A. Krause, C. Guestrin, W. J. Kaiser
2009 The Journal of Artificial Intelligence Research  
In this paper, we present an efficient approach for near-optimally solving the NP-hard optimization problem of planning such informative paths.  ...  In particular, we first develop eSIP (efficient Single-robot Informative Path planning), an approximation algorithm for optimizing the path of a single robot.  ...  Fig. 1b displays an aerial view of lake Fulmor.  ... 
doi:10.1613/jair.2674 fatcat:wkktjyv4xjhbjltyrftclhw5de

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
., +, LRA Oct. 2020 5299-5306 Mark scanning equipment WareVision: CNN Barcode Detection-Based UAV Trajectory Optimization for Autonomous Warehouse Stocktaking.  ...  Nanorobot Using Optimal and Ultralimit Archimedean Spiral Local Scan.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

Information-Driven Path Planning

Shi Bai, Tixiao Shan, Fanfei Chen, Lantao Liu, Brendan Englot
2021 Current Robotics Reports  
Summary This review started with the fundamental building blocks of informative planning for environment modeling and monitoring, followed by integration with machine learning, emphasizing how machine  ...  . b Unmanned aerial vehicle for air quality monitoring. c Autonomous ground vehicle for 3D mapping volcanic activity [125] .  ...  Recently, a sampling-based method has also been proposed to generate Pareto-optimal trajectories for multi-objective motion planning [72] .  ... 
doi:10.1007/s43154-021-00045-6 fatcat:cfnlvoaacjhptlbdtk6fhjm37m

2019 Index IEEE Robotics and Automation Letters Vol. 4

2019 IEEE Robotics and Automation Letters  
., +, LRA April 2019 2070-2077 Submodular Optimization for Coupled Task Allocation and Intermittent Deployment Problems.  ...  Zhou, L., +, LRA Jan. 2019 129-136 Submodular Optimization for Coupled Task Allocation and Intermittent Deployment Problems.  ...  Permanent magnets Adaptive Dynamic Control for Magnetically Actuated Medical Robots.  ... 
doi:10.1109/lra.2019.2955867 fatcat:ckastwefh5chhamsravandtnx4

SPINS: Structure Priors aided Inertial Navigation System [article]

Yang Lyu, Thien-Minh Nguyen, Liu Liu, Muqing Cao, Shenghai Yuan, Thien Hoang Nguyen, Lihua Xie
2020 arXiv   pre-print
The results show that the proposed scheme can effectively improve the accuracy and robustness of localization for autonomous robots in civilian applications.  ...  Although Simultaneous Localization and Mapping (SLAM) has been an active research topic for decades, current state-of-the-art methods still suffer from instability or inaccuracy due to feature insufficiency  ...  A 3D robot trajectory is generated within the simulation space based on spline functions and plotted in Fig. 5 as a red curve.  ... 
arXiv:2012.14053v1 fatcat:nu7nerbfmja7pc6cuawydutdam

Final Program

2020 2020 International Conference on Unmanned Aircraft Systems (ICUAS)  
We thank all of them for their extremely valuable contributions and dedication. Dr.  ...  Athens is a magnificent location for such an international event like the 2020 ICUAS.  ...  A target-oriented 3D path planning algorithm, directly using point clouds to compute optimized trajectories for a UAV, is presented in this article.  ... 
doi:10.1109/icuas48674.2020.9214039 fatcat:7jr6chhfija47kgtwoxqmfmmoe

Multipass Target Search in Natural Environments

Michael Kuhlman, Michael Otte, Donald Sofge, Satyandra Gupta
2017 Sensors  
Motion planning for multi-target autonomous search requires planning over an area with an imperfect sensor and may require multiple passes, which is hindered by the submodularity property of mutual information  ...  Further, mission duration constraints must be handled accordingly, requiring consideration of the vehicle's dynamics to generate feasible trajectories and must plan trajectories spanning the entire mission  ...  However, previous work has shown that for submodular optimization problems, greedy approaches can get to within a constant factor of the optimal solution [6, 9] .  ... 
doi:10.3390/s17112514 pmid:29099087 pmcid:PMC5713627 fatcat:yc5zfqhngjazzipccn6ezqdpzq
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