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A surface-based Next-Best-View approach for automated 3D model completion of unknown objects

Kriegel, Simon and Bodenmuller, Tim and Suppa, Michael and Hirzinger, Gerd (2011) A surface-based Next-Best-View approach for automated 3D model completion of unknown objects. In: Proceedings of ICRA 2011, pp. 4869-4874. IEEE International Conference on Robotics and Automation (ICRA), 9-13 May 2011, Shanghai, China.

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Official URL: http://dx.doi.org/10.1109/ICRA.2011.5979947


The procedure of manually generating a 3D model of an object is very time consuming for a human operator. Next-best-view (NBV) planning is an important aspect for automation of this procedure in a robotic environment. We propose a surface-based NBV approach, which creates a triangle surface from a real-time data stream and determines viewpoints similar to human intuition. Thereby, the boundaries in the surface are detected and a quadratic patch for each boundary is estimated. Then several viewpoint candidates are calculated, which look perpendicular to the surface and overlap with previous sensor data. A NBV is selected with the goal to fill areas which are occluded. This approach focuses on the completion of a 3D model of an unknown object. Thereby, the search pace for the viewpoints is not restricted to a cylinder or sphere. Our NBV determination proves to be very fast, and is evaluated in an experiment on test objects, applying an industrial robot and a laser range scanner.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:A surface-based Next-Best-View approach for automated 3D model completion of unknown objects
AuthorsInstitution or Email of Authors
Kriegel, Simonsimon.kriegel@dlr.de
Bodenmuller, TimUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:12 May 2011
Journal or Publication Title:Proceedings of ICRA 2011
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 4869-4874
Keywords:view planning, 3D object reconstruction
Event Title:IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Shanghai, China
Event Type:international Conference
Event Dates:9-13 May 2011
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Robotische Explorationstechnologie
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Simon Kriegel
Deposited On:15 Dec 2011 16:43
Last Modified:12 Dec 2013 21:29

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