Exploiting Priors from 3D Diffusion Models for RGB-Based One-Shot View Planning

arXiv:2403.16803v1 Announce Type: cross
Abstract: Object reconstruction is relevant for many autonomous robotic tasks that require interaction with the environment. A key challenge in such scenarios is planning view configurations to collect informative measurements for reconstructing an initially unknown object. One-shot view planning enables efficient data collection by predicting view configurations and planning the globally shortest path connecting all views at once. However, geometric priors about the object are required to conduct one-shot view planning. In this work, we propose …

abstract arxiv autonomous challenge collection cs.cv cs.ro data data collection diffusion diffusion models environment key object planning robotic tasks the environment type view