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.
Item URL in elib: | https://elib.dlr.de/73427/ | |||||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | |||||||||||||||
Additional Information: | Volltext nicht frei. | |||||||||||||||
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 | |||||||||||||||
Open Access: | Yes | |||||||||||||||
Gold Open Access: | No | |||||||||||||||
In SCOPUS: | No | |||||||||||||||
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 (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 (until 2012) > Robotic Systems | |||||||||||||||
Deposited By: | Kriegel, Dr. Simon | |||||||||||||||
Deposited On: | 23 Dec 2011 14:59 | |||||||||||||||
Last Modified: | 31 Jul 2019 19:34 |
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