← 研踪 PaperTrailarXiv:2611.11809 · v1
Budget-aware Correspondence-driven View Selection for Real-time 3D Perception of Mobile Robots
首次提交 2026-11-09 11:13
版本更新 2026-11-09 11:13
雷达观测 2026-11-10 13:18
摘要
3D visual perception and scene reconstruction are critical for autonomous robots and intelligent transportation, yet real-world deployments often generate long, redundant image sequences that hinder downstream processing. This report investigates BCVS (budget-aware correspondence-driven view sampling), a pose-free view selection algorithm that offers 22+ FPS on a CPU, enabling online filtering for efficient 3D perception by mobile robots. Unlike existing approaches that rely on full structure-from-motion (SfM) pipelines or camera pose estimation, BCVS employs a purely correspondence-based scoring strategy that prioritizes view novelty while maintaining sufficient overlap for geometric stability. Given a user-specified budget, BCVS iteratively selects the most distinct frames and suppresses near-duplicates, producing compact subsets that preserve connectivity and minimize reconstruction loss. Extensive experiments on benchmark show that BCVS outperforms CPU-friendly baselines at tight budgets and remains competitive as budgets scale. Field trials with large aerial and marine robotics data further validate its practicality and scalability: BCVS reduces redundancy up to 16% while sustaining robust SfM registration and high-quality 3D reconstructions.
作者备注：12 pages
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v1 · 2026-11-09 11:13 · 最新观测版本
Budget-aware Correspondence-driven View Selection for Real-time 3D Perception of Mobile Robots
3D visual perception and scene reconstruction are critical for autonomous robots and intelligent transportation, yet real-world deployments often generate long, redundant image sequences that hinder downstream processing. This report investigates BCVS (budget-aware correspondence-driven view sampling), a pose-free view selection algorithm that offers 22+ FPS on a CPU, enabling online filtering for efficient 3D perception by mobile robots. Unlike existing approaches that rely on full structure-from-motion (SfM) pipelines or camera pose estimation, BCVS employs a purely correspondence-based scoring strategy that prioritizes view novelty while maintaining sufficient overlap for geometric stability. Given a user-specified budget, BCVS iteratively selects the most distinct frames and suppresses near-duplicates, producing compact subsets that preserve connectivity and minimize reconstruction loss. Extensive experiments on benchmark show that BCVS outperforms CPU-friendly baselines at tight budgets and remains competitive as budgets scale. Field trials with large aerial and marine robotics data further validate its practicality and scalability: BCVS reduces redundancy up to 16% while sustaining robust SfM registration and high-quality 3D reconstructions.
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