Uncertainty Guided Policy for Active Robotic 3D Reconstruction using Neural Radiance Fields. (arXiv:2209.08409v1 [cs.CV])

In this paper, we tackle the problem of active robotic 3D reconstruction of
an object. In particular, we study how a mobile robot with an arm-held camera
can select a favorable number of views to recover an object's 3D shape
efficiently. Contrary to the existing solution to this problem, we leverage the
popular neural radiance fields-based object representation, which has recently
shown impressive results for various computer vision tasks. However, it is not
straightforward to directly reason about an object's …

3d reconstruction arxiv neural radiance fields policy uncertainty