{"id":"https://openalex.org/W4410298114","doi":"https://doi.org/10.1109/simpar62925.2025.10979126","title":"Deep Reinforcement Learning for Next Best View Planning in Autonomous Robot-Based 3D Reconstruction","display_name":"Deep Reinforcement Learning for Next Best View Planning in Autonomous Robot-Based 3D Reconstruction","publication_year":2025,"publication_date":"2025-04-14","ids":{"openalex":"https://openalex.org/W4410298114","doi":"https://doi.org/10.1109/simpar62925.2025.10979126"},"language":"en","primary_location":{"id":"doi:10.1109/simpar62925.2025.10979126","is_oa":false,"landing_page_url":"https://doi.org/10.1109/simpar62925.2025.10979126","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108168770","display_name":"Hossein Omid Beiki","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Hossein Omid Beiki","raw_affiliation_strings":["Aachen University,Laboratory for Machine Tools and Production Engineering WZL of RWTH,Aachen,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aachen University,Laboratory for Machine Tools and Production Engineering WZL of RWTH,Aachen,Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5117519040","display_name":"Bijan Kavousian","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bijan Kavousian","raw_affiliation_strings":["Aachen University,Laboratory for Machine Tools and Production Engineering WZL of RWTH,Aachen,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aachen University,Laboratory for Machine Tools and Production Engineering WZL of RWTH,Aachen,Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023930400","display_name":"Manuel Belke","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Manuel Belke","raw_affiliation_strings":["Aachen University,Laboratory for Machine Tools and Production Engineering WZL of RWTH,Aachen,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aachen University,Laboratory for Machine Tools and Production Engineering WZL of RWTH,Aachen,Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018580542","display_name":"Oliver Petrovi\u0107","orcid":"https://orcid.org/0000-0002-4861-1332"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Petrovic","raw_affiliation_strings":["Aachen University,Laboratory for Machine Tools and Production Engineering WZL of RWTH,Aachen,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aachen University,Laboratory for Machine Tools and Production Engineering WZL of RWTH,Aachen,Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067996292","display_name":"Christian Brecher","orcid":"https://orcid.org/0000-0002-8049-3364"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Brecher","raw_affiliation_strings":["Aachen University,Laboratory for Machine Tools and Production Engineering WZL of RWTH,Aachen,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aachen University,Laboratory for Machine Tools and Production Engineering WZL of RWTH,Aachen,Germany","institution_ids":["https://openalex.org/I887968799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5108168770"],"corresponding_institution_ids":["https://openalex.org/I887968799"],"apc_list":null,"apc_paid":null,"fwci":4.6998,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.93506417,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9526000022888184,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9526000022888184,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8483423590660095},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7049702405929565},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5672749280929565},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4932817816734314},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48666292428970337},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.4195901155471802},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3559659719467163},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3420429527759552}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8483423590660095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7049702405929565},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5672749280929565},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4932817816734314},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48666292428970337},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.4195901155471802},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3559659719467163},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3420429527759552}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/simpar62925.2025.10979126","is_oa":false,"landing_page_url":"https://doi.org/10.1109/simpar62925.2025.10979126","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:publications.rwth-aachen.de:1015502","is_oa":false,"landing_page_url":"https://publications.rwth-aachen.de/record/1015502","pdf_url":null,"source":{"id":"https://openalex.org/S4306401033","display_name":"RWTH Publications (RWTH Aachen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887968799","host_organization_name":"RWTH Aachen University","host_organization_lineage":["https://openalex.org/I887968799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE SIMPAR 2025 : 14-18 April 2025, CNR Research Area, Palermo Italy : IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots / proceeding edited by Ignazio Infantino and Valeria Seidita<br/>7. International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2025, Palermo, Italy, 2025-04-14 - 2025-04-18","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W3114279067","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W2150982344"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"enhanced":[4],"approach":[5],"to":[6,43,64,101],"automate":[7],"the":[8,29,62,96,103,120,136,150],"robot-based":[9],"Next":[10],"Best":[11],"View":[12],"planning":[13],"in":[14,115],"3D":[15],"reconstruction":[16,48],"using":[17,119],"Deep":[18],"Reinforcement":[19],"Learning":[20],"(DRL).":[21],"In":[22],"our":[23],"study,":[24],"a":[25,40,78,116],"robot-guided":[26],"sensor":[27],"captures":[28],"object":[30],"from":[31],"multiple":[32],"viewpoints,":[33],"with":[34,87],"each":[35],"viewpoint":[36],"autonomously":[37,98],"selected":[38,137],"by":[39],"DRL":[41],"agent":[42,63,97,110],"optimize":[44],"scan":[45,59,71],"efficiency":[46],"and":[47,58,113,124,158],"quality.":[49,72],"Our":[50],"reward":[51],"function":[52],"accounts":[53],"for":[54,145,149],"both":[55],"robot\u2019s":[56],"movement":[57],"quality,":[60],"enabling":[61],"shorten":[65],"its":[66],"path":[67],"while":[68],"maintaining":[69],"high":[70],"Unlike":[73],"other":[74],"methods,":[75],"we":[76],"utilize":[77],"continuous":[79],"action":[80,89],"space,":[81],"offering":[82],"greater":[83],"flexibility":[84],"than":[85],"approaches":[86],"predefined":[88],"sets":[90],"or":[91],"regions":[92],"of":[93,152],"interest.":[94],"Additionally,":[95],"determines":[99],"when":[100],"stop":[102],"scanning":[104],"process,":[105],"further":[106,159],"enhancing":[107],"performance.":[108],"The":[109,141],"is":[111,125,143],"trained":[112],"tested":[114],"simulation":[117],"environment":[118],"state-of-the-art":[121],"ABC":[122],"dataset,":[123],"later":[126],"evaluated":[127],"on":[128],"new,":[129],"unseen":[130],"parts,":[131],"where":[132],"it":[133],"consistently":[134],"outperforms":[135],"simplistic":[138],"baseline":[139],"method.":[140],"system":[142],"designed":[144],"easy":[146],"extensibility,":[147],"allowing":[148],"integration":[151],"additional":[153],"optimization":[154],"criteria,":[155],"new":[156],"datasets,":[157],"training.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-02T08:42:23.175194","created_date":"2025-10-10T00:00:00"}
