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A robotic system for 3D model acquisition from multiple range images

Michael K. Reed; Peter K. Allen

Title:
A robotic system for 3D model acquisition from multiple range images
Author(s):
Reed, Michael K.
Allen, Peter K.
Date:
Type:
Articles
Department:
Computer Science
Permanent URL:
Book/Journal Title:
Proceedings of 1997 IEEE International Conference on Robotics and Automation, April 20-25, 1997, Albuquerque, New Mexico
Publisher:
IEEE
Publisher Location:
Piscataway, N.J.
Abstract:
This paper describes a robotic system that builds a 3D CAD model of an object incrementally from multiple range images. It motivates the generation of a solid model at each stage of the modeling process, allowing the use of well-defined geometric algorithms to perform the merging and integration task. The data from each imaging operation is represented by a mesh, which is then extruded in the viewing direction to form a solid model. These solids are merged as they are acquired into a composite model of the object. We describe an algorithm that builds a solid model from a mesh surface and present experimental results of reconstructing a complex object. In addition, we discuss an approach to completely automating the model acquisition process by integration with previous sensor-planning results.
Subject(s):
Robotics
Publisher DOI:
http://dx.doi.org/10.1109/ROBOT.1997.619338
Item views:
96
Metadata:
text | xml

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