We propose a novel view path-planning method based on an online Multi-View Stereo (MVS) system. This method aims to incrementally construct the target three-dimensional (3D) model in real time. View paths are continually planned based on online feedback from the partially constructed model. The obtained paths fully cover low-quality surfaces while maximizing the reconstruction performance of MVS. Experimental results demonstrate that the proposed method can construct high quality 3D models with one exploration trial, without any re-scanning trial as in the explore-then-exploit method.
1. S Song, D Kim, S Choi, View Path Planning via Online Multi-View Stereo for 3D Modeling of Large-Scale Structures, IEEE Transactions on Robotics, Accepted. [VIDEO]