Budget-aware Correspondence-driven View Selection for Real-time 3D Perception of Mobile Robots
Overview
This research introduces BCVS, a pose-free view selection algorithm that enables real-time 3D perception on mobile robots by iteratively selecting novel frames within a user-specified budget. The method suppresses near-duplicates to minimize reconstruction loss and reduces image redundancy by up to 16% in field trials with aerial and marine robotics data while sustaining robust structure-from-motion registration, outperforming CPU-friendly baselines at tight budgets.
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Reported quantity · FPS on CPU: 22 other · Basis not reported
“arXiv:2611.11809v1 Announce Type: new Abstract: 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, e”
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- arXiv Robotics — research abstractsSignalBudget-aware Correspondence-driven View Selection for Real-time 3D Perception of Mobile Robots
This research introduces BCVS, a pose-free view selection algorithm that enables real-time 3D perception on mobile robots by iteratively selecting novel frames within a user-specified budget. The method suppresses near-duplicates to minimize reconstruction loss and reduces image redundancy by up to 16% in field trials with aerial and marine robotics data while sustaining robust structure-from-motion registration, outperforming CPU-friendly baselines at tight budgets.
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