NBV-SC: Next Best View Planning Based on Shape Completion for Fruit Mapping and Reconstruction
Rohit Menon,Tobias Zaenker,Nils Dengler,Maren Bennewitz,Rohit Menon,Tobias Zaenker,Nils Dengler,Maren Bennewitz
Active perception for fruit mapping and harvesting is a difficult task since occlusions occur frequently and the location as well as size of fruits change over time. State-of-the-art viewpoint planning approaches utilize computationally expensive ray casting operations to find good viewpoints aiming at maximizing information gain and covering the fruits in the scene. In this paper, we present a no...
