arXiv subjects

Benjamin Hepp

Publications and source records attributed to Benjamin Hepp.

4 recordsLinked to original sources

arXiv2019

Airways: Optimization-Based Planning of Quadrotor Trajectories according to High-Level User Goals

In this paper we propose a computational design tool that al-lows end-users to create advanced quadrotor trajectories witha variety of application scenarios in mind. Our algorithm al-lows novice users to create quadrotor based use-cases withoutrequiring deep knowledge in either quadrotor control or theunderlying constraints of the target domain. To achieve thisgoal we propose an optimization-based method that gener-ates feasible trajectories which can be flown in the real world.Furthermore, the method incorporates high-level human ob-jectives into the planning of flight trajectories. An easy touse 3D design tool allows for quick specification and edit-ing of trajectories as well as for intuitive exploration of theresulting solution space. We demonstrate the utility of our ap-proach in several real-world application scenarios, includingaerial-videography, robotic light-painting and drone racing.

cs.HC↗

arXiv2018

Learn-to-Score: Efficient 3D Scene Exploration by Predicting View Utility

Camera equipped drones are nowadays being used to explore large scenes and reconstruct detailed 3D maps. When free space in the scene is approximately known, an offline planner can generate optimal plans to efficiently explore the scene. However, for exploring unknown scenes, the planner must predict and maximize usefulness of where to go on the fly. Traditionally, this has been achieved using handcrafted utility functions. We propose to learn a better utility function that predicts the usefulness of future viewpoints. Our learned utility function is based on a 3D convolutional neural network. This network takes as input a novel volumetric scene representation that implicitly captures previously visited viewpoints and generalizes to new scenes. We evaluate our method on several large 3D models of urban scenes using simulated depth cameras. We show that our method outperforms existing utility measures in terms of reconstruction performance and is robust to sensor noise.

cs.CV↗

arXiv2017

Plan3D: Viewpoint and Trajectory Optimization for Aerial Multi-View Stereo Reconstruction

We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a region of interest (e.g., a large building). Images from a commodity RGB camera, mounted on an autonomously navigated quadcopter, are fed into a multi-view stereo reconstruction pipeline that produces high-quality results but is computationally expensive. In this setting, the scanning result is constrained by the restricted flight time of quadcopters. To this end, we introduce a novel optimization strategy that respects these constraints by maximizing the information gain from sparsely-sampled view points while limiting the total travel distance of the quadcopter. At the core of our method lies a hierarchical volumetric representation that allows the algorithm to distinguish between unknown, free, and occupied space. Furthermore, our information gain based formulation leverages this representation to handle occlusions in an efficient manner. In addition to the surface geometry, we utilize the free-space information to avoid obstacles and determine collision-free flight paths. Our tool can be used to specify the region of interest and to plan trajectories. We demonstrate our method by obtaining a number of compelling 3D reconstructions, and provide a thorough quantitative evaluation showing improvement over previous state-of-the-art and regular patterns.

cs.CV↗

arXiv2014

Adaptive Hybrid Simulations for Multiscale Stochastic Reaction Networks

The probability distribution describing the state of a Stochastic Reaction Network evolves according to the Chemical Master Equation (CME). It is common to estimated its solution using Monte Carlo methods such as the Stochastic Simulation Algorithm (SSA). In many cases these simulations can take an impractical amount of computational time. Therefore many methods have been developed that approximate the Stochastic Process underlying the Chemical Master Equation. Prominent strategies are Hybrid Models that regard the firing of some reaction channels as being continuous and applying the quasi-stationary assumption to approximate the dynamics of fast subnetworks. However as the dynamics of a Stochastic Reaction Network changes with time these approximations might have to be adapted during the simulation. We develop a method that approximates the solution of a CME by automatically partitioning the reaction dynamics into discrete/continuous components and applying the quasi-stationary assumption on identifiable fast subnetworks. Our method does not require user intervention and it adapts to exploit the changing timescale separation between reactions and/or changing magnitudes of copy numbers of constituent species. We demonstrate the efficiency of the proposed method by considering examples from Systems Biology and showing that very good approximations to the exact probability distributions can be achieved in significantly less computational time.

q-bio.QM↗