用全景相机自动规划扫描路径，高效覆盖场景且不撞墙
Scanning Bot: Efficient Scan Planning using Panoramic Cameras
- 基于全景相机自动生成无碰撞的高效扫描路径
- 真实场景平均覆盖率99%，扫描速度比现有方法快3倍
- 适合想快速建模的新手或移动设备用户
全景RGB-D相机能生成高质量三维场景重建，但使用需手动选视角并物理移动设备，耗时费力，对新手尤其困难，如难以保证视角间特征重叠。为此，我们提出完全自主的扫描规划方法，生成高效巡游路径，确保导航无碰撞且视角间重叠充足。在合成与真实环境中的大量实验验证了该规划器性能，优于当前最先进方法。特别地，真实场景下平均扫描覆盖率达99%，总扫描时间较现有方法最快提升3倍。
原文摘要 · Abstract (English)
Panoramic RGB-D cameras are known for their ability to produce high quality 3D scene reconstructions. However, operating these cameras involves manually selecting viewpoints and physically transporting the camera, making the generation of a 3D model time consuming and tedious. Additionally, the process can be challenging for novice users due to spatial constraints, such as ensuring sufficient feature overlap between viewpoint frames. To address these challenges, we propose a fully autonomous scan planning that generates an efficient tour plan for environment scanning, ensuring collision-free navigation and adequate overlap between viewpoints within the plan. Extensive experiments conducted in both synthetic and real-world environments validate the performance of our planner against state-of-the-art view planners. In particular, our method achieved an average scan coverage of 99 percent in the real-world experiment, with our approach being up to 3 times faster than state-of-the-art planners in total scan time.
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