DM-OSVP++: One-Shot View Planning Using 3D Diffusion Models for Active RGB-Based Object Reconstruction

Understand

Active object reconstruction is crucial for many robotic applications.

• A key aspect in these scenarios is generating object-specific view configurations to obtain informative measurements for reconstruction.
• One-shot view planning enables efficient data collection by predicting all views at once, eliminating the need for time-consuming online replanning.
• Our primary insight is to leverage the generative power of 3D diffusion models as valuable prior information.