000168641 001__ 168641 000168641 005__ 20260213183046.0 000168641 0247_ $$2doi$$a10.1109/ICPR.2002.1048036 000168641 0248_ $$2sideral$$a148043 000168641 037__ $$aART-2002-148043 000168641 041__ $$aeng 000168641 100__ $$0(orcid)0000-0003-0630-4366$$aLozano Albalate, M.T. 000168641 245__ $$aPerception planning for an exploration task of a 3D environment 000168641 260__ $$c2002 000168641 5060_ $$aAccess copy available to the general public$$fUnrestricted 000168641 5203_ $$aIncremental recovery of the 3D model of a closed environment is a complex task as it involves several functions: 3D acquisition, data registration and fusion, construction of a 3D triangular mesh or other representations. The sensor must be placed in several positions so that the resulting model is complete (no unseen areas) and has the required resolution. This paper presents a method devoted to the selection of the next best view for a sensor used for 3D modelling of an environment; the objective is to minimise the number of acquisitions and optimise the quality of the final model. From the current sensor position, an optimal next view is selected by using utility functions computed for possible solutions; the method combines exhaustive search and hill climbing optimisation. Thanks to a simulation, results are presented for a synthetic environment, using a virtual 3D sensor on a 5 degrees of freedom robot. 000168641 540__ $$9info:eu-repo/semantics/openAccess$$aAll rights reserved$$uhttp://www.europeana.eu/rights/rr-f/ 000168641 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion 000168641 700__ $$aDevy, M. 000168641 700__ $$aSanchiz Martí, J.M. 000168641 773__ $$g2022, 3 (2002), 704-707$$pInt. Conf. Pattern Recognit.$$tInternational Conference on Pattern Recognition$$x1051-4651 000168641 8564_ $$s295947$$uhttps://zaguan.unizar.es/record/168641/files/texto_completo.pdf$$yPostprint 000168641 8564_ $$s2793086$$uhttps://zaguan.unizar.es/record/168641/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint 000168641 909CO $$ooai:zaguan.unizar.es:168641$$particulos$$pdriver 000168641 951__ $$a2026-02-13-18:30:20 000168641 980__ $$aARTICLE