By Topic

Autonomous generation of complete 3D object models using next best view manipulation planning

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Krainin, M. ; Dept. of Comput. Sci. & Eng., Univ. of Washington, Seattle, WA, USA ; Curless, B. ; Fox, D.

Recognizing and manipulating objects is an important task for mobile robots performing useful services in everyday environments. In this paper, we develop a system that enables a robot to grasp an object and to move it in front of its depth camera so as to build a 3D surface model of the object. We derive an information gain based variant of the next best view algorithm in order to determine how the manipulator should move the object in front of the camera. By considering occlusions caused by the robot manipulator, our technique also determines when and how the robot should re-grasp the object in order to build a complete model.

Published in:

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

Date of Conference:

9-13 May 2011