A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Surface reconstruction from unorganized points
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
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
Autonomous Exploration: Driven by Uncertainty
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Solution to the Next Best View Problem for Automated Surface Acquisition
IEEE Transactions on Pattern Analysis and Machine Intelligence
Plan-N-Scan: A Robotic System for Collision-Free Autonomous Exploration and Workspace Mapping
Journal of Intelligent and Robotic Systems
Occlusions as a Guide for Planning the Next View
IEEE Transactions on Pattern Analysis and Machine Intelligence
View planning for automated three-dimensional object reconstruction and inspection
ACM Computing Surveys (CSUR)
A frontier-based approach for autonomous exploration
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Automated Model Acquisition from Range Images with View Planning
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Automatic 3-D digitization using a laser rangefinder with a small field of view
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
Active View Selection for Efficient 3D Scene Reconstruction
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
The Marching Intersections algorithm for merging range images
The Visual Computer: International Journal of Computer Graphics
Probabilistic action planning for active scene modeling in continuous high-dimensional domains
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Active Sensor Planning for Multiview Vision Tasks
Active Sensor Planning for Multiview Vision Tasks
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part I
Vision sensor planning for 3-D model acquisition
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A next-best-view system for autonomous 3-D object reconstruction
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Normal estimation for point clouds: a comparison study for a Voronoi based method
SPBG'05 Proceedings of the Second Eurographics / IEEE VGTC conference on Point-Based Graphics
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We present an integrated and fully autonomous eye-in-hand system for 3D object modeling. The system hardware consists of a laser range scanner mounted on a six-DOF manipulator arm and the task is to autonomously build a 3D model of an object in situ where the object may not be moved and must be scanned in its original location. Our system assumes no knowledge of object shape or geometry other than that it is within a bounding box whose location and size are known a priori, and, furthermore, the environment is unknown. The overall planner integrates the three main algorithms in the system: one that finds the next best view (NBV) for modeling the object; one that finds the NBV for exploration, i.e. exploring the environment, so the arm can move to the modeling view pose; and finally a sensor-based path planner, that is able to find a collision-free path to the view configuration determined by either of the the two view planners. Our modeling NBV algorithm efficiently searches the five-dimensional view space to determine the best modeling viewpoint, while considering key constraints such as field of view (FOV), overlap, and occlusion. If the determined viewpoint is reachable, the sensor-based path planner determines a collision-free path to move the manipulator to the desired view configuration, and a scan of the object is taken. Since the workspace is initially unknown, in some phases, the exploration view planner is used to increase information about the reachability and also the status of the modeling view configurations, since the view configuration may lie in an unknown workspace. This is repeated until the object modeling is complete or the planner deems that no further progress can be made, and the system stops. We have implemented the system with a six-DOF powercube arm and a wrist mounted Hokuyo URG-04LX laser scanner. Our results show that the system is able to autonomously build a 3D model of an object in situ in an unknown environment.