Computational geometric methods in volumetric intersection for 3D reconstruction

The authors presents an approach to the generation of 3D models of arbitrarily shaped physical objects. These models can be used for purposes of manipulation as well as such tasks as collision avoidance and workspace mapping. The technique utilizes a set of images taken from known view positions, from which the silhouettes of the objects are extracted. These silhouettes (occluding contours) are then projected along the view vector to form 3D conics. Mutual intersection of the set of conics formed from the images generates an approximate model of the object. The techniques used to intersect the conics draw on algorithms used in computational geometry. The model becomes more refined as more images are used. The objects are modeled by contours on successive parallel planes. The contour model supports the ability to generate the surface of the object by tessellation