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Viewpoint planning--robot collecting images in the ASL lab field

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Uploaded on May 18, 2011

The Segway robot takes a set of viewpoints that is generated from the viewpoint planning algorithm and takes pictures at each viewpoint.

The main goal of the viewpoint planning algorithm is to generate a set of viewpoints where the images are captured. The viewpoint planning algorithm optimize the path and minimize the amount of images that is required to reconstruct the indoor environment with the Bundler. These images are the input for the Bundler by Dr. Noah Snavely in order to reconstruct a 3D sparse point cloud and estimate robot camera pose. The output of the Bundler then can be used for PMVS2.

Bundler - http://phototour.cs.washington.edu/bu...
PMVS2 - http://grail.cs.washington.edu/softwa...

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