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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
Abstract
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) | ||||||||||
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| Title: | A surface-based Next-Best-View approach for automated 3D model completion of unknown objects | ||||||||||
| Authors: |
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| 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 | ||||||||||
| Status: | Published | ||||||||||
| 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: | Raumfahrt | ||||||||||
| HGF - Program Themes: | R SY - Technik für Raumfahrtsysteme | ||||||||||
| 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: | 23 Dec 2011 14:59 |
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