A New View Planning Method for Automatic Modeling of Three Dimensional Objects

Authors:
Xiaolong Zhou;Bingwei He;Y. F. Li
Affiliations:
Department of Mechatronics Engineering School of Mechanical, Engineering & Automation, Fuzhou University,;Department of Mechatronics Engineering School of Mechanical, Engineering & Automation, Fuzhou University, and State key laboratory of precision measuring technology and instruments, Tianjin Univer ...;Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong,
Venue:
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Year:
2008

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Abstract

Sensor planning is a critical issue since a typical 3-D sensor can only sample a portion of an object at a single viewpoint. The primary focus of the research described in this paper is to propose a new method of creating a complete model of free-form surface object from multiple range images acquired by a scan sensor at different space poses. Candidates for the best-next-view position are determined by detecting and measuring occlusions to the camera's view in an image. Ultimately, the candidate which obtains maximum visible space volume is selected as the Next-best-view position. The experimental results show that the method is effective in practical implementation.