Object modelling by registration of multiple range images
Image and Vision Computing - Special issue: range image understanding
Zippered polygon meshes from range images
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
A volumetric method for building complex models from range images
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Object shape and reflectance modeling from observation
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
The digital Michelangelo project: 3D scanning of large statues
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Surfels: surface elements as rendering primitives
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Scanning physical interaction behavior of 3D objects
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
ICP Registration Using Invariant Features
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-time 3D model acquisition
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Registration of 3-D partial surface models using luminance and depth information
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
Registration and integration of textured 3-D data
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
Visual Hand Tracking Using Nonparametric Belief Propagation
CVPRW '04 Proceedings of the 2004 Conference on Computer Vision and Pattern Recognition Workshop (CVPRW'04) Volume 12 - Volume 12
Poisson surface reconstruction
SGP '06 Proceedings of the fourth Eurographics symposium on Geometry processing
Robotic Grasping of Novel Objects using Vision
International Journal of Robotics Research
Probabilistic Models of Object Geometry with Application to Grasping
International Journal of Robotics Research
Wide-Baseline Visible Features for Highly Dynamic Scene Recognition
CAIP '09 Proceedings of the 13th International Conference on Computer Analysis of Images and Patterns
Object recognition and full pose registration from a single image for robotic manipulation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Interactive learning of visually symmetric objects
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
The self-referenced DLR 3D-modeler
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
An Active Vision System for Detecting, Fixating and Manipulating Objects in the Real World
International Journal of Robotics Research
Laser Scanner-based End-effector Tracking and Joint Variable Extraction for Heavy Machinery
International Journal of Robotics Research
Iterative closest SIFT formulation for robust feature matching
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
Automated construction of robotic manipulation programs
Automated construction of robotic manipulation programs
RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments
International Journal of Robotics Research
Generic fitted shapes (GFS): Volumetric object segmentation in service robotics
Robotics and Autonomous Systems
Integrating visual perception and manipulation for autonomous learning of object representations
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
Incremental object learning and robust tracking of multiple objects from RGB-D point set data
Journal of Visual Communication and Image Representation
Multi-resolution surfel maps for efficient dense 3D modeling and tracking
Journal of Visual Communication and Image Representation
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Recognizing and manipulating objects is an important task for mobile robots performing useful services in everyday environments. While existing techniques for object recognition related to manipulation provide very good results even for noisy and incomplete data, they are typically trained using data generated in an offline process. As a result, they do not enable a robot to acquire new object models as it operates in an environment. In this paper we develop an approach to building 3D models of unknown objects based on a depth camera observing the robot's hand while moving an object. The approach integrates both shape and appearance information into an articulated Iterative Closest Point approach to track the robot's manipulator and the object. Objects are modeled by sets of surfels, which are small patches providing occlusion and appearance information. Experiments show that our approach provides very good 3D models even when the object is highly symmetric and lacks visual features and the manipulator motion is noisy. Autonomous object modeling represents a step toward improved semantic understanding, which will eventually enable robots to reason about their environments in terms of objects and their relations rather than through raw sensor data.