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A surface-based Next-Best-View approach for automated 3D model completion of unknown objects

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4 Author(s)
Kriegel, S. ; Inst. of Robot. & Mechatron., German Aerosp. Center (DLR), Oberpfaffenhofen, Germany ; Bodenmliller, T. ; Suppa, M. ; Hirzinger, G.

The procedure of manually generating a 3D model of an object is very time consuming for a human operator. Next best-view (NBV) planning is an important aspect for automation of this procedure in a robotic environment. We propose a surface-based NBV approach, which creates a triangle surface from a real-time data stream and determines viewpoints similar to human intuition. Thereby, the boundaries in the surface are detected and a quadratic patch for each boundary is estimated. Then several viewpoint candidates are calculated, which look perpendicular to the surface and overlap with previous sensor data. A NBV is selected with the goal to fill areas which are occluded. This approach focuses on the completion of a 3D model of an unknown object. Thereby, the search space for the viewpoints is not restricted to a cylinder or sphere. Our NBV determination proves to be very fast, and is evaluated in an experiment on test objects, applying an industrial robot and a laser range scanner.

Published in:

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Date of Conference:

9-13 May 2011

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