Occlusions as a guide for planning the next view
Maver, J.
Bajcsy, R.
Dept. of Electr. Eng. & Comput. Sci., Ljubljana Univ.;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: May 1993
Volume: 15,
Issue: 5
On page(s): 417-433
ISSN: 0162-8828
References Cited: 17
CODEN: ITPIDJ
INSPEC Accession Number: 4443286
Digital Object Identifier: 10.1109/34.211463
Current Version Published: 2002-08-06
Abstract
A strategy for acquiring 3-D data of an unknown scene, using range
images obtained by a light stripe range finder is addressed. The foci of
attention are occluded regions, i.e., only the scene at the borders of
the occlusions is modeled to compute the next move. Since the system has
knowledge of the sensor geometry, it can resolve the appearance of
occlusions by analyzing them. The problem of 3-D data acquisition is
divided into two subproblems due to two types of occlusions. An
occlusion arises either when the reflected laser light does not reach
the camera or when the directed laser light does not reach the scene
surface. After taking the range image of a scene, the regions of no data
due to the first kind of occlusion are extracted. The missing data are
acquired by rotating the sensor system in the scanning plane, which is
defined by the first scan. After a complete image of the surface
illuminated from the first scanning plane has been built, the regions of
missing data due to the second kind of occlusions are located. Then, the
directions of the next scanning planes for further 3-D data acquisition
are computed
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