Marching cubes: A high resolution 3D surface construction algorithm
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Construction of the Octree Approximating a Three-Dimensional Object by Using Multiple Views
IEEE Transactions on Pattern Analysis and Machine Intelligence
Surface shape from the deformation of apparent contours
International Journal of Computer Vision
Rapid octree construction from image sequences
CVGIP: Image Understanding
How Far 3D Shapes Can Be Understood from 2D Silhouettes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Photorealistic Scene Reconstruction by Voxel Coloring
International Journal of Computer Vision
A Theory of Shape by Space Carving
International Journal of Computer Vision - Special issue on Genomic Signal Processing
3D surface point and wireframe reconstruction from multiview photographic images
Image and Vision Computing
Snakes, shapes, and gradient vector flow
IEEE Transactions on Image Processing
Floating visual grasp of unknown objects
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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A points surface reconstruction algorithm of 3D object models from multiple silhouettes is proposed in this paper. Some images of the target object are taken from a circular trajectory by a robot with a camera mounted in an eye-in-hand configuration. The silhouettes of the observed object are evaluated for each view using a blob analysis process, and from those a set of points that sample a reconstruction sphere surrounding the target object are estimated. The sphere sample points are attracted by the object center of mass using a variable step according to the distance from the silhouettes contours. For each point, the iterative process of constriction is stopped when all the back-projections of the point are within the corresponding silhouettes. Moreover, a new method based on a rough estimation of object dimension is proposed to reduce the disturbances due to projection and shadow cones. Simulations and experiments are presented to evaluate the performance of the proposed algorithm.