MAP-NBV: Multi-agent Prediction-guided Next-Best-View Planning for Active 3D Object Reconstruction

07/08/2023

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by   Harnaik Dhami, et al.

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We propose MAP-NBV, a prediction-guided active algorithm for 3D reconstruction with multi-agent systems. Prediction-based approaches have shown great improvement in active perception tasks by learning the cues about structures in the environment from data. But these methods primarily focus on single-agent systems. We design a next-best-view approach that utilizes geometric measures over the predictions and jointly optimizes the information gain and control effort for efficient collaborative 3D reconstruction of the object. Our method achieves 22.75 single-agent approach and 15.63 multi-agent approach. We make our code publicly available through our project website: http://raaslab.org/projects/MAPNBV/