elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

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

Full text not available from this repository.

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

Abstract

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
Authors:
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 SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1007/s11554-013-0386-6
Page Range:pp. 1-21
Publisher:Springer
Series Name:Special Issue on Robot Vision
ISSN:1861-8200
Status:Published
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

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.