実環境適応型の次最良視点選択による能動的3D再構成

原文アブストラクト

Efficient robotic 3D reconstruction requires selecting views that contribute new surface measurements with few physical captures. Pretrained world models can guide this choice, but a predicted surface may not produce valid depth measurements under the operating conditions of the deployed sensor. We present a deployment adaptation methodology for next-best-view selection that learns a sensor-return adapter from limited local calibration data while keeping the pretrained predictor fixed. The adapter estimates measurement dropout over each predicted surface, allowing the selection method to favor views likely to fill gaps in the measured reconstruction. In a real-robot experiment with a structured-light sensor, the adapted method achieves higher measured surface coverage with 60% fewer captures than nominal selection. The adapted method recovers a surface region that the nominal method repeatedly targets but fails to measure. These results suggest that robots can reuse pretrained predictive models while adapting their decisions to local operating conditions in data-scarce environments.