The representation, recognition, and locating of 3-d objects
International Journal of Robotics Research
Incremental construction of 3-D models from a sequence of framed views: matching partial objects
Proceedings on Graphics Interface '86/Vision Interface '86
Localizing Overlapping Parts by Searching the Interpretation Tree
IEEE Transactions on Pattern Analysis and Machine Intelligence
Surfaces in range image understanding
Surfaces in range image understanding
Describing and recognizing 3-D objects using surface properties
Describing and recognizing 3-D objects using surface properties
Neural networks and fuzzy systems: a dynamical systems approach to machine intelligence
Neural networks and fuzzy systems: a dynamical systems approach to machine intelligence
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
3d object recognition using invariant feature indexing of interpretation tables
CVGIP: Image Understanding - Special issue on directions in CAD-based vision
A General Surface Approach to the Integration of a Set of Range Views
IEEE Transactions on Pattern Analysis and Machine Intelligence
Relative 3D reconstruction using multiple uncalibrated images
International Journal of Robotics Research
Towards a General Multi-View Registration Technique
IEEE Transactions on Pattern Analysis and Machine Intelligence
An introduction to fuzzy control (2nd ed.)
An introduction to fuzzy control (2nd ed.)
An Experimental Comparison of Range Image Segmentation Algorithms
IEEE Transactions on Pattern Analysis and Machine Intelligence
3D Surface Reconstruction Using Occluding Contours
International Journal of Computer Vision
On a relation between graph edit distance and maximum common subgraph
Pattern Recognition Letters
Registration and Integration of Multiple Object Views for 3D Model Construction
IEEE Transactions on Pattern Analysis and Machine Intelligence
A graph distance metric based on the maximal common subgraph
Pattern Recognition Letters
Simultaneous registration of multiple range views for use in reverse engineering of CAD models
Computer Vision and Image Understanding - Special issue on CAD-based computer vision
Integrating topological and metroc maps for mobile robot navigation: a statistical approach
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
Data Structures: Theory and Practice
Data Structures: Theory and Practice
A Spherical Representation for Recognition of Free-Form Surfaces
IEEE Transactions on Pattern Analysis and Machine Intelligence
Registering Multiview Range Data to Create 3D Computer Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
Extracting a Valid Boundary Representation from a Segmented Range Image
IEEE Transactions on Pattern Analysis and Machine Intelligence
ECCV '92 Proceedings of the Second European Conference on Computer Vision
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
Reliable Surface Reconstructiuon from Multiple Range Images
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
Surface registration by matching oriented points
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
Extracting surface patches from complete range descriptions
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
Estimating the absolute position of a mobile robot using position probability grids
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
Integrating grid-based and topological maps for mobile robot navigation
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
Fast 3D mapping by matching planes extracted from range sensor point-clouds
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Fast registration based on noisy planes with unknown correspondences for 3-D mapping
IEEE Transactions on Robotics
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This paper presents a novel solution to the reconstruction of 3D geometry models from partial, segmented (2.5D or 3D) range views. First, the geometric fusion works entirely on sparse symbolic information, i.e. attributed surface graphs, rather than point data or triangulated meshes. Thus, new sensor data can always be integrated with an existing partial model available for symbolic action planning. Second, assumptions on automatic registration are weaker than those found in related work: the views need not be approximately calibrated, and no pre-existing knowledge of their overlap is needed. In order to find corresponding (redundant) surface features reliably even under high-noise and occlusion conditions we develop Neuro-Fuzzy similarity measures on surface descriptions. Third, we propose a reasonably complete prototype system including algorithms for merging sparse, reduced surface attributes, in particular boundaries. The experimental results from segmented range images of an indoor camera motion sequence demonstrate the ability to cope with unknown camera positions, low image resolution, large measurement and segmentation errors.