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Integration of active and passive sensing techniques for representing three-dimensional objects

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2 Author(s)
Wang, Y.F. ; Comput. & Vision Res. Center, Texas Univ., Austin, TX, USA ; Aggarwal, J.K.

An algorithm is introduced for inferring the structure of three-dimensional (3-D) objects from multiple viewing directions using an integration of active and passive sensing. The structural description of a 3-D object is constructed in two stages: (i) the surface orientation and partial structure are first inferred from a set of single views, and (ii) the visible surface structures inferred from different viewpoints are integrated to complete the description of the 3-D object. In the first stage, an active stripe coding technique is used for recovering visible surface orientation and partial structure. In the second stage, an iterative construction/refinement scheme is used which exploits both passive and active sensing for representing the object surfaces. The final surface structure is recorded in a data structure where the surface contours in a set of parallel planar cross sections are stored. The system construction is inexpensive, and the algorithms introduced are adaptive, versatile, and suitable for applications in dynamic environments

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:5 ,  Issue: 4 )

Date of Publication:

Aug 1989

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