A Surface-Based Next-Best-View Approach for Automated 3D Model Completion of Unknown Objects
The procedure of manually generating a 3D model of an object is very time consuming for a human operator. Nextbest- view (NBV) planning is an important aspect for automation of this procedure in a robotic environment. We propose a surface-based NBV approach, which creates a triangle surface from a real-time data stream and determines viewpoints similar to human intuition. Thereby, the boundaries in the surface are detected and a quadratic patch for each boundary is estimated. Then several viewpoint candidates are calculated, which look perpendicular to the surface and overlap with previous sensor data. A NBV is selected with the goal to fill areas which are occluded. This approach focuses on the completion of a 3D model of an unknown object. Thereby, the search space for the viewpoints is not restricted to a cylinder or sphere. Our NBV determination proves to be very fast, and is evaluated in an experiment on test objects, applying an industrial robot and a laser range scanner.
Simon Kriegel Tim Bodenm(u)ller Michael Suppa Gerd Hirzinger
Institute of Robotics and Mechatronics,German Aerospace Center (DLR),82234 Oberpfaffenhofen,Germany
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4869-4874
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）