Active modeling of 3-D objects: planning on the next best pose (NBP) for acquiring range images

Author

Zha, Hongbin ; Morooka, Ken´ichi ; Hasegawa, Tsutomu ; Nagata, Tadashi

Author_Institution

Dept. of Intelligent Syst., Kyushu Univ., Fukuoka, Japan

fYear

1997

Firstpage

68

Lastpage

75

Abstract

We propose a new method of creating a complete model of a curved object from multiple range images acquired by showing it at different poses. The pose of the object is changed by a manipulator in order to view the object from some specified viewpoints. The pose is planned after each new image is merged into a unified representation. A rating function for the planning is defined to take into consideration the factors such as possibility of merging new data, registration accuracy and control point selection

Keywords

active vision; distance measurement; image representation; object recognition; 3-D objects; active modeling; control point selection; curved object; next best pose; range images; registration accuracy; unified representation; Gratings; Image recognition; Intelligent systems; Laboratories; Machine vision; Merging; Robot kinematics; Robot vision systems; Shape; Solid modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

3-D Digital Imaging and Modeling, 1997. Proceedings., International Conference on Recent Advances in

Conference_Location

Ottawa, Ont.

Print_ISBN

0-8186-7943-3

Type

conf

DOI

10.1109/IM.1997.603850

Filename

603850