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Best Viewpoint Tracking for Camera Mounted on Robotic Arm with Dynamic Obstacles

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Original languageEnglish
Title of host publicationProceedings of the International Conference on 3D Vision 2017
Place of PublicationQingdao, China
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages9
ISBN (Electronic)978-1-5386-2610-8
ISBN (Print)978-1-5386-2611-5
Publication statusPublished - 7 Jun 2018
EventInternational Conference on 3D Vision 2017 - Qingdao, China
Duration: 10 Oct 201712 Oct 2017

Publication series

ISSN (Electronic)2475-7888


ConferenceInternational Conference on 3D Vision 2017
Abbreviated title3DV 2017
Internet address


The problem of finding a next best viewpoint for 3D modeling or scene mapping has been explored in computer vision over the last decade. This paper tackles a similar problem, but with different characteristics. It proposes a method for dynamic next best viewpoint recovery of a target point while avoiding possible occlusions. Since the environment can change, the method has to iteratively find the next best view with a global understanding of the free and occupied parts.
We model the problem as a set of possible viewpoints which correspond to the centers of the facets of a virtual tessellated hemisphere covering the scene. Taking into account occlusions, distances between current and future viewpoints, quality of the viewpoint and joint constraints (robot arm joint distances or limits), we evaluate the next best viewpoint. The proposal has been evaluated on 8 different scenarios with different occlusions and a short 3D video sequence to validate its dynamic performance.


International Conference on 3D Vision 2017


Qingdao, China

Event: Conference

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