Integration of View Planning
What we don’t want to do!!!
- scene self-occlusion ignored
- use brute -force raycasting to find viewpoints
- discrete solutions only
Our approach:
- acquire preliminary model first, then plan
- target driven - computes visibility for target using the composite model.
- Targets selected from surfaces labeled “occlusion”
- solutions (plans) are in continuous space
- Each new composite model determines next plan