TY - GEN
T1 - View planning for 3D object reconstruction
AU - Vasquez-Gomez, Juan Irving
AU - Lopez-Damian, Efraín
AU - Sucar, Luis Enrique
PY - 2009/12/11
Y1 - 2009/12/11
N2 - For manipulating an unknown object a robot needs a 3D model of it. Given the limited field of view of a camera and self occlusions, a set of views is required to build a complete 3D model, so an important problem is how to select these views optimally according to certain criteria. We propose a novel algorithm to select the next-best-view (NBV) for a range camera to model 3D arbitrary objects. We use a volumetric representation and voxel labeling. We propose a new utility function based on factors considering voxel, quality and navigation information. We also propose two novel strategies to make faster the search of the NBV, one based on a hierarchical decomposition of the search space and other based on a multi-resolution of ray tracing. We have tested our planner in simulation with 7 different 3D objects, showing good results in terms of quality of the models and computation time required, and at the same time reducing the distance that the sensor has to travel to obtain the set of views.
AB - For manipulating an unknown object a robot needs a 3D model of it. Given the limited field of view of a camera and self occlusions, a set of views is required to build a complete 3D model, so an important problem is how to select these views optimally according to certain criteria. We propose a novel algorithm to select the next-best-view (NBV) for a range camera to model 3D arbitrary objects. We use a volumetric representation and voxel labeling. We propose a new utility function based on factors considering voxel, quality and navigation information. We also propose two novel strategies to make faster the search of the NBV, one based on a hierarchical decomposition of the search space and other based on a multi-resolution of ray tracing. We have tested our planner in simulation with 7 different 3D objects, showing good results in terms of quality of the models and computation time required, and at the same time reducing the distance that the sensor has to travel to obtain the set of views.
UR - http://www.scopus.com/inward/record.url?scp=76249084008&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5354383
DO - 10.1109/IROS.2009.5354383
M3 - Contribución a la conferencia
AN - SCOPUS:76249084008
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 4015
EP - 4020
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -