Next best viewpoint (NBV) planning for active object modeling based on a learning-by-showing approach

The paper presents a method of creating a complete model of a curved object from a sequence of range images acquired by a fixed range finder. To accomplish the modeling fast and accurately in an optimal manner, we propose a new online viewpoint planning algorithm to choose the next best viewpoint (NBV) based on the already obtained partial model. The NBV is determined by evaluating factors such as possibility of merging new data, local shape changes, registration accuracy and control point distribution.