Active scene reconstruction via self-rotation driven by optimized information theory

Yao Chen; Chenyang Zhu

doi:10.1117/12.2680387

27 June 2023 Active scene reconstruction via self-rotation driven by optimized information theory

Yao Chen, Chenyang Zhu

Proceedings Volume 12705, Fourteenth International Conference on Graphics and Image Processing (ICGIP 2022); 127052H (2023) https://doi.org/10.1117/12.2680387
Event: Fourteenth International Conference on Graphics and Image Processing (ICGIP 2022), 2022, Nanjing, China

Abstract

With the increased demands of digital twins and virtual reality, autonomous scene reconstruction has gradually become an essential direction in the field of 3D vision. However, efficient and accurate reconstruction with RGBD sensors remains challenging due to the high nonlinearity of camera pose optimization caused by the complexity of the exploration trajectory. Inspired by the working principle of Lidar and panorama, we introduce self-rotation for robust reconstruction. This design can reduce the optimization freedom and expand the visible range of the robot in a specific area, which can significantly improve reconstruction accuracy. To ensure accuracy and efficiency simultaneously, we present a two-branch framework based on the information theory to drive the robot for active scene reconstruction. The scanning branch finds the optimal goal position for self-rotation scanning, and the exploration branch is optimized to find an efficient exploration path which helps the scanning branch find more global optimal. Many experimental results show that our method effectively improves the quality and efficiency of scene reconstruction compared to the current SOTA method (the average integrity is from 47.28% to 84.96%, and the average time consuming is from 315.4s to 189s).

Citation Download Citation

Yao Chen and Chenyang Zhu "Active scene reconstruction via self-rotation driven by optimized information theory", Proc. SPIE 12705, Fourteenth International Conference on Graphics and Image Processing (ICGIP 2022), 127052H (27 June 2023); https://doi.org/10.1117/12.2680387

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KEYWORDS

Information theory

Design and modelling

Cameras

Target detection

Associative arrays

Point clouds

Visualization

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