This paper presents a method for solving the Best Next View problem. This problem arises while gathering range data for the purpose of building 3D models of objects. The novelty of our solution is the introduction of a quality criterion in addition to the visibility criterion used by previous researchers. This quality criterion aims at obtaining views that improve the overall range data quality of the imaged surfaces. Results demonstrate that this method selects views which generate reasonable volumetric models for convex, concave and curved objects.
Keywords:
Best Next Views, Sensor Planning, Voxelmap, Sphere Tessellation, 3D Scene Reconstruction, Quality Criterion
