A points surface reconstruction algorithm of 3D object models from multiple silhouettes is proposed in this paper. Some images of the target object are taken from a circular trajectory by a robot with a camera mounted in an eye-in-hand configuration. The silhouettes of the observed object are evaluated for each view using a blob analysis process, and from those a set of points that sample a reconstruction sphere surrounding the target object are estimated. The sphere sample points are attracted by the object center of mass using a variable step according to the distance from the silhouettes contours. For each point, the iterative process of constriction is stopped when all the back-projections of the point are within the corresponding silhouettes. Moreover, a new method based on a rough estimation of object dimension is proposed to reduce the disturbances due to projection and shadow cones. Simulations and experiments are presented to evaluate the performance of the proposed algorithm.
Surface model reconstruction of 3D objects from multiple views / Lippiello, Vincenzo; Ruggiero, Fabio. - (2009), pp. 2400-2405. (Intervento presentato al convegno IEEE International Conference on Robotics and Automation tenutosi a Kobe, Japan nel May) [10.1109/ROBOT.2009.5152652].
Surface model reconstruction of 3D objects from multiple views
LIPPIELLO, VINCENZO;RUGGIERO, FABIO
2009
Abstract
A points surface reconstruction algorithm of 3D object models from multiple silhouettes is proposed in this paper. Some images of the target object are taken from a circular trajectory by a robot with a camera mounted in an eye-in-hand configuration. The silhouettes of the observed object are evaluated for each view using a blob analysis process, and from those a set of points that sample a reconstruction sphere surrounding the target object are estimated. The sphere sample points are attracted by the object center of mass using a variable step according to the distance from the silhouettes contours. For each point, the iterative process of constriction is stopped when all the back-projections of the point are within the corresponding silhouettes. Moreover, a new method based on a rough estimation of object dimension is proposed to reduce the disturbances due to projection and shadow cones. Simulations and experiments are presented to evaluate the performance of the proposed algorithm.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
