168641 20260213183046.0 doi 10.1109/ICPR.2002.1048036 sideral 148043 ART-2002-148043 eng Lozano Albalate, M.T. (orcid)0000-0003-0630-4366 Perception planning for an exploration task of a 3D environment 2002 Access copy available to the general public Unrestricted Incremental 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. info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Devy, M. Sanchiz Martí, J.M. 2022, 3 (2002), 704-707 Int. Conf. Pattern Recognit. International Conference on Pattern Recognition 1051-4651 295947 http://zaguan.unizar.es/record/168641/files/texto_completo.pdf Postprint 2793086 http://zaguan.unizar.es/record/168641/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:168641 articulos driver 2026-02-13-18:30:20 ARTICLE