DocumentCode :
300067
Title :
Fast approximation of range images by triangular meshes generated through adaptive randomized sampling
Author :
García, Miguel Angel
Author_Institution :
Inst. de Cibernetica, Univ. Politecnica de Catalunya, Barcelona, Spain
Volume :
2
fYear :
1995
fDate :
21-27 May 1995
Firstpage :
2043
Abstract :
This paper describes and evaluates an efficient technique that allows the fast generation of 3D triangular meshes from range images avoiding optimization procedures. Such a tool is advantageous in order to integrate range imagery into world models based on scattered representations. Furthermore, this technique can also be used as a fast preprocessing stage of registration, segmentation or recognition algorithms, owing to its abstraction capabilities that tend to eliminate redundant information. The proposed method has two stages: 1) the vertices of the mesh are computed through adaptive randomized sampling of the range image based on curvature estimations; and 2) the mesh is generated by triangulating the sampled vertices through an efficient 2½D Delaunay algorithm. The sampling process concentrates points in areas of large curvature and tends to preserve surface and orientation discontinuities. Multiresolution representations are supported in a natural way. The proposed technique is evaluated with several real range images that include both free-form and polyhedral surfaces
Keywords :
approximation theory; image recognition; image reconstruction; image registration; image representation; image segmentation; mesh generation; parallel processing; robot vision; stereo image processing; 3D triangular meshes; Delaunay algorithm; adaptive randomized sampling; curvature estimations; fast approximation; free-form surface; image recognition; image registration; polyhedral surfaces; range images; scattered representations; segmentation; triangular meshes; world models; Artificial intelligence; Councils; Cybernetics; Electronic mail; Image sampling; Image storage; Intelligent robots; Robot sensing systems; Scattering; Space technology;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
ISSN :
1050-4729
Print_ISBN :
0-7803-1965-6
Type :
conf
DOI :
10.1109/ROBOT.1995.525563
Filename :
525563
Link To Document :
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