Academic Commons

Articles

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

Reed, Michael K.; Allen, Peter K.

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.

Subjects

Files

Also Published In

Title
Proceedings of 1997 IEEE International Conference on Robotics and Automation, April 20-25, 1997, Albuquerque, New Mexico
Publisher
IEEE
DOI
https://doi.org/10.1109/ROBOT.1997.619338

More About This Work

Academic Units
Computer Science
Published Here
November 7, 2012
Academic Commons provides global access to research and scholarship produced at Columbia University, Barnard College, Teachers College, Union Theological Seminary and Jewish Theological Seminary. Academic Commons is managed by the Columbia University Libraries.