Abstract:Viewpoint planning is an important task in any application where objects or scenes need to be viewed from different angles to achieve sufficient coverage. The mapping of confined spaces such as shelves is an especially challenging task since objects occlude each other and the scene can only be observed from the front, thus with limited possible viewpoints. In this paper, we propose a deep reinforcement learning framework that generates promising views aiming at reducing the map entropy. Additionally, the pipel… Show more
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