A Solution to the Next Best View Problem for Automated Surface Acquisition
IEEE Transactions on Pattern Analysis and Machine Intelligence
View planning for automated three-dimensional object reconstruction and inspection
ACM Computing Surveys (CSUR)
Machine Vision and Applications
CAD-based range sensor placement for optimum 3D data acquisition
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
An automation system for industrial 3-D laser digitizing
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
A 3D scanning system based on low-occlusion approach
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Next best view algorithms for interior and exterior model acquisition
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
An autonomous six-DOF eye-in-hand system for in situ 3D object modeling
International Journal of Robotics Research
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We address the problem of the automation of surface digitization using a precision 3-D laser rangefinder. Because of their small field of view, such sensors navigate closely to the digitized object and are subject to collisions. Unlike previous techniques that addressed only the exhaustiveness of digitization, this work focuses on collision avoidance. To safely identify empty space, shadow and occlusion phenomena are carefully analyzed, and so is the effect of sampling. Then, the planning problem is solved using a hierarchical approach. At low level, we digitize a single view and address collision avoidance using path planning techniques. At high level, the problem becomes the choice of the next best view. Some implementation details and experimental results are presented.