Viewpoint Push Planning for Mapping of Unknown Confined Spaces
Nils Dengler,Sicong Pan,Vamsi Kalagaturu,Rohit Menon,Murad Dawood,Maren Bennewitz,Nils Dengler,Sicong Pan,Vamsi Kalagaturu,Rohit Menon,Murad Dawood,Maren Bennewitz
Viewpoint planning is an important task in any application where objects or scenes need to be viewed from different angles to achieve sufficient coverage. The mapping of confined spaces such as shelves is an especially challenging task since objects occlude each other and the scene can only be observed from the front, posing limitations on the possible viewpoints. In this paper, we propose a deep ...
