Automatic view planning for 3D reconstruction and occlusion handling based on the integration of active and passive vision

In order to acquire three-dimensional model of the unknown object automatically, we proposed a novel view planning method, which combines the active and passive vision and determines viewpoints similar to human intuition. Firstly, it gives the concept of limit visual surface in binocular vision system, and the next best view is obtained with the predicted contour. Secondly, for the occlusion in reconstruction process, the occluded contour can be predicted by SFS (Shape from Shading) or limit visual surface. Finally, an added viewpoint is selected with the goal to fill the occlusion in range image, which makes the reconstructed model complete. Experimental result is presented to illustrate the effectiveness and versatility of our approach.