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Autonomous sensor planning for 3D reconstruction of complex objects from range images

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4 Author(s)
Garcia, M.A. ; Dept. of Comput. Sci. Eng., Rovira i Virgili Univ., Tarragona, Spain ; Velazquez, S. ; Sappa, A.D. ; Basanez, Luis

Presents a technique for determining a small set of views that allow the observation and acquisition of the surfaces of the objects present in a target scene through a range sensor that moves over a sphere containing that scene. No a priori knowledge about the shape of those objects is assumed. Instead of applying costly visibility analysis techniques from the beginning as in most previous approaches, a two-stage algorithm is proposed. The first stage is responsible for getting the majority of object surfaces through a voting scheme based on occlusion edges. Then, a second stage applies visibility analysis to fill holes left by the first stage due to self-occlusions

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998

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