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Next-Best-Scan Planning for Autonomous 3D Modeling

Kriegel, Simon and Rink, Christian and Bodenmüller, Tim and Narr, Alexander and Suppa, Michael and Hirzinger, Gerd (2012) Next-Best-Scan Planning for Autonomous 3D Modeling. Proceedings of IROS 2012, pp. 2850-2856.

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Abstract

We present a next-best-scan (NBS) planning approach for autonomous 3D modeling. The system successively completes a 3D model from complex shaped objects by iteratively selecting a NBS based on previously acquired data. For this purpose, new range data is accumulated in-the-loop into a 3D surface (streaming reconstruction) and new continuous scan paths along the estimated surface trend are generated. Further, the space around the object is explored using a probabilistic exploration approach that considers sensor uncertainty. This allows for collision free path planning in order to completely scan unknown objects. For each scan path, the expected information gain is determined and the best path is selected as NBS. The presented NBS approach is tested with a laser striper system, attached to an industrial robot. The results are compared to state-of-the-art next-best-view methods. Our results show promising performance with respect to completeness, quality and scan time.

Document Type:Article
Title:Next-Best-Scan Planning for Autonomous 3D Modeling
Authors:
AuthorsInstitution or Email of Authors
Kriegel, Simonsimon.kriegel@dlr.de
Rink, ChristianUNSPECIFIED
Bodenmüller, TimUNSPECIFIED
Narr, AlexanderUNSPECIFIED
Suppa, MichaelUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:9 October 2012
Journal or Publication Title:Proceedings of IROS 2012
Refereed publication:Yes
In Open Access:Yes
In ISI Web of Science:No
Page Range:pp. 2850-2856
Status:Published
Keywords:view planning, 3D modeling
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Simon Kriegel
Deposited On:12 Nov 2012 13:58
Last Modified:12 Nov 2012 13:58

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