A solution to the next best view problem for automated surfaceacquisition
Pito, R.
Invenio Technol. Co., Boston, MA;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Oct 1999
Volume: 21,
Issue: 10
On page(s): 1016-1030
ISSN: 0162-8828
References Cited: 51
CODEN: ITPIDJ
INSPEC Accession Number: 6406669
Digital Object Identifier: 10.1109/34.799908
Current Version Published: 2002-08-06
Abstract
A solution to the “next best view” (NBV) problem for
automated surface acquisition is presented. The NBV problem is to
determine which areas of a scanner's viewing volume need to be scanned
to sample all of the visible surfaces of an a priori unknown object and
where to position/control the scanner to sample them. A method for
determining the unscanned areas of the viewing volume is presented. In
addition, a novel representation, positional space, is presented which
facilitates a solution to the NBV problem by representing what must be
and what can be scanned in a single data structure. The number of costly
computations needed to determine if an area of the viewing volume would
be occluded from some scanning position is decoupled from the number of
positions considered for the NBV, thus reducing the computational cost
of choosing one. An automated surface acquisition systems designed to
scan all visible surfaces of an a priori unknown object is demonstrated
on real objects
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