Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Next-Best-View Prediction for Active Stereo Cameras and Highly
  Reflective Objects   Depth acquisition with the active stereo camera is a challenging task for
highly reflective objects. When setup permits, multi-view fusion can provide
increased levels of depth completion. However, due to the slow acquisition
speed of high-end active stereo cameras, collecting a large number of
viewpoints for a single scene is generally not practical. In this work, we
propose a next-best-view framework to strategically select camera viewpoints
for completing depth data on reflective objects. In particular, we explicitly
model the specular reflection of reflective surfaces based on the Phong
reflection model and a photometric response function. Given the object CAD
model and grayscale image, we employ an RGB-based pose estimator to obtain
current pose predictions from the existing data, which is used to form
predicted surface normal and depth hypotheses, and allows us to then assess the
information gain from a subsequent frame for any candidate viewpoint. Using
this formulation, we implement an active perception pipeline which is evaluated
on a challenging real-world dataset. The evaluation results demonstrate that
our active depth acquisition method outperforms two strong baselines for both
depth completion and object pose estimation performance.

19
The categories of this paper are: eess
25
The categories of this paper are: patt-sol
4
The categories of this paper are: cond-mat
33
The categories of this paper are: plasm-ph
28
The categories of this paper are: alg-geom
13
The categories of this paper are: quant-ph
5
The categories of this paper are: gr-qc
21
The categories of this paper are: adap-org
27
The categories of this paper are: comp-gas
37
The categories of this paper are: supr-con
3
The categories of this paper are: physics
0
The categories of this paper are: hep-ph
23
The categories of this paper are: solv-int
32
The categories of this paper are: atom-ph
2
The categories of this paper are: math
12
The categories of this paper are: nucl-th