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Efficient Next-Best-Scan Planning for Autonomous 3D Surface Reconstruction of Unknown Objects

Kriegel, Simon and Rink, Christian and Bodenmüller, Tim and Suppa, Michael (2013) Efficient Next-Best-Scan Planning for Autonomous 3D Surface Reconstruction of Unknown Objects. Journal of Real-Time Image Processing, pp. 1-21. Springer. DOI: 10.1007/s11554-013-0386-6 ISSN 1861-8200

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Official URL: http://link.springer.com/article/10.1007/s11554-013-0386-6


This work focuses on autonomous surface reconstruction of small-scale objects with a robot and a 3D sensor. The aim is a high-quality surface model allowing for robotic applications such as grasping and manipulation. Our approach comprises the generation of next-best-scan (NBS) candidates and selection criteria, error minimization between scan patches and termination criteria. NBS candidates are iteratively determined by a boundary detection and surface trend estimation of the acquired model. To account for both a fast and high-quality model acquisition, that candidate is selected as NBS, which maximizes a utility function that integrates an exploration and a mesh-quality component. The modeling and scan planning methods are evaluated on an industrial robot with a high-precision laser striper system. While performing the new laser scan, data are integrated on-the-fly into both, a triangle mesh and a probabilistic voxel space. The efficiency of the system in fast acquisition of high-quality 3D surface models is proven with different cultural heritage, household and industrial objects.

Item URL in elib:https://elib.dlr.de/86636/
Document Type:Article
Title:Efficient Next-Best-Scan Planning for Autonomous 3D Surface Reconstruction of Unknown Objects
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Kriegel, Simonsimon.kriegel (at) dlr.deUNSPECIFIED
Rink, Christian Christian.Rink (at) dlr.deUNSPECIFIED
Bodenmüller, Timtim.bodenmueller (at) dlr.deUNSPECIFIED
Suppa, MichaelMichael.Suppa (at) dlr.deUNSPECIFIED
Date:9 December 2013
Journal or Publication Title:Journal of Real-Time Image Processing
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1007/s11554-013-0386-6
Page Range:pp. 1-21
Series Name:Special Issue on Robot Vision
Keywords:3D modeling; Next-best-view planning; Active vision; Laser scanning
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 Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Kriegel, Dr. Simon
Deposited On:11 Dec 2013 16:14
Last Modified:10 Jan 2019 15:49

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