论文标题
学习无人机航空路径规划的重构性
Learning Reconstructability for Drone Aerial Path Planning
论文作者
论文摘要
我们介绍了第一个基于学习的可重建性预测器,以改善使用无人机的大规模3D城市场景获取的视图和路径计划。与以前的启发式方法相反,我们的方法学习了一个模型,该模型明确预测了从一组观点重建3D城市场景的能力。为了使这种模型可训练并同时适用于无人机路径计划,我们在培训期间模拟了基于代理的3D场景重建以设置预测。具体而言,我们设计的神经网络经过训练,可以预测场景的重构性,这是代理几何学的函数,一组观点,以及在飞行中获得的一系列场景图像。为了重建一个新的城市场景,我们首先构建了3D场景代理,然后依靠基于代理几何形状的网络预测的重建质量和不确定性度量来指导无人机路径计划。我们证明,与先前的启发式措施相比,我们的数据驱动的可重建性预测与真实的重建质量更紧密地相关。此外,我们所学的预测变量可以轻松地集成到现有的路径计划中,以产生改进。最后,我们根据学习的可重建性设计了一个新的迭代视图计划框架,并在重建合成场景和真实场景时表现出新计划者的出色性能。
We introduce the first learning-based reconstructability predictor to improve view and path planning for large-scale 3D urban scene acquisition using unmanned drones. In contrast to previous heuristic approaches, our method learns a model that explicitly predicts how well a 3D urban scene will be reconstructed from a set of viewpoints. To make such a model trainable and simultaneously applicable to drone path planning, we simulate the proxy-based 3D scene reconstruction during training to set up the prediction. Specifically, the neural network we design is trained to predict the scene reconstructability as a function of the proxy geometry, a set of viewpoints, and optionally a series of scene images acquired in flight. To reconstruct a new urban scene, we first build the 3D scene proxy, then rely on the predicted reconstruction quality and uncertainty measures by our network, based off of the proxy geometry, to guide the drone path planning. We demonstrate that our data-driven reconstructability predictions are more closely correlated to the true reconstruction quality than prior heuristic measures. Further, our learned predictor can be easily integrated into existing path planners to yield improvements. Finally, we devise a new iterative view planning framework, based on the learned reconstructability, and show superior performance of the new planner when reconstructing both synthetic and real scenes.