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Automatic 3-d digitization using a laser rangefinder with a small field of view

Automatic 3-D digitization using a laser rangefinder with a ...

引用

Proceedings of the 1997 1st international conference on recent advances in 3-d digital imaging and modeling

作者： Papadopoulos-Orfanos, dimitri Schmitt, Francis Ecole Nationale Superieure des Telecommunications Paris France

We address the problem of the automation of surface digitization using a precision 3-d laser rangefinder. Because of their small field of view, such sensors navigate closely to the digitized object and are subject to collisions. Unlike previous techniques that addressed only the exhaustiveness of digitization, this work focuses on collision avoidance. To safely identify empty space, shadow and occlusion phenomena are carefully analyzed, and so is the effect of sampling. Then, the planning problem is solved using a hierarchical approach. At low level, we digitize a single view and address collision avoidance using path planning techniques. At high level, the problem becomes the choice of the next best view. Some implementation details and experimental results are presented.

关键词： Image sensors

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3-d modeling from range imagery: An incremental method with a planning component

3-D modeling from range imagery: An incremental method with ...

引用

Proceedings of the 1997 1st international conference on recent advances in 3-d digital imaging and modeling

作者： Reed, Michael K. Allen, Peter K. Stamos, Ioannis Columbia Univ New York United States

In this paper we present a method for automatically constructing a CAd model of an unknown object from range images. The method is an incremental one that inter-leaves a sensing operation that acquires and merges information into the model with a planning phase to determine the next sensor position or `view'. This is accomplished by integrating a system for 3-d model acquisition with a sensor planner. The model acquisition system provides facilities for range image acquisition, solid model construction and model merging: both mesh surface and solid representations are used to build a model of the range data from each view, which is then merged with the model built from previous sensing operations. The planning system utilizes the resulting incomplete model to plan the next sensing operation by finding a sensor viewpoint that will improve the fidelity of the model. Experimental results are presented for a complex part that includes polygonal faces, curved surfaces, and large self-occlusions.

关键词： Object recognition

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Frequency domain estimation of 3-d rigid motion based on range and intensity data

Frequency domain estimation of 3-D rigid motion based on ran...

引用

Proceedings of the 1997 1st international conference on recent advances in 3-d digital imaging and modeling

作者： Lucchese, L. doretto, G. Cortelazzo, G.M. Univ of Padova Padova Italy

Video-rate registered range and intensity data are at reach of current sensor technology. This wealth of data can be profitably exploited in order to estimate rigid motion parameters as the approaches to 3-d motion estimation, based on the optical flow of both types of data, indicate. This work introduces an alternative for 3-d motion estimation based on the Fourier transform of the 3-d intensity function implicitly described by the registered time-sequences of range and intensity data. The proposed procedure can lead to an unsupervised method for 3-d rigid motion estimation. This method has several advantages related to the fact that it uses the total available information and not sets of features. With respect to memory occupancy the use of a time-sequence of a 3-d intensity function represents a considerable data reduction with respect to a pair of time-sequences of 2-d functions. The proposed technique, which extends to the 3-d case previous frequency domain estimation algorithms developed for the planar case, retain their robustness.

关键词： Frequency domain analysis

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Registration and integration of textured 3-d data

Registration and integration of textured 3-D data

引用

Proceedings of the 1997 1st international conference on recent advances in 3-d digital imaging and modeling

作者： Johnson, Andrew Edie Kang, Sing Bing Carnegie Mellon Univ Pittsburgh United States

In general, multiple views are required to create a complete 3-d model of an object or of a multi-roomed indoor scene. In this work, we address the problem of merging multiple textured 3-d data sets, each of which corresponds to a different view of a scene or object. There are two steps to the merging process: registration and integration. To register, or align, data sets we use a modified version of the Iterative Closest Point algorithm;our version, which we call color ICP, considers not only 3-d information, but color as well. We show that the use of color decreases registration error by an order of magnitude. Once the 3-d data sets have been registered, we integrate them to produce a seamless, composite 3-d textured model. Our approach to integration uses a 3-d occupancy grid to represent likelihood of spatial occupancy through voting. In addition to occupancy information, we store surface normal in each voxel of the occupancy grid. Surface normal is used to robustly extract a surface from the occupancy grid;on that surface we blend textures from multiple views.

关键词： Virtual reality

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Physics-based models for image analysis/synthesis and geometric design

Physics-based models for image analysis/synthesis and geomet...

引用

international conference on 3d imaging, modeling, Processing, Visualization and Transmission (3dIMPVT)

作者： d. Terzopoulos Department of Computer Science University of Toronto Toronto Canada

This paper reviews recently developed physics-based surface modeling techniques for geometric design, medical image analysis, and human facial modeling. It briefly motivates the problems of interest in each application area, describes the models that the authors have developed to address them, presents sample results, and provides references to technical papers containing the full details.

关键词： Solid modeling Image analysis deformable models Biomedical imaging Shape Image segmentation Geometry Humans Physics Estimation theory

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Automatic editing and curve-fitting of 3-d surface scan data of the human body

Automatic editing and curve-fitting of 3-D surface scan data...

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international conference on 3d imaging, modeling, Processing, Visualization and Transmission (3dIMPVT)

作者： Peng Li P.R.M. Jones HUMAG Research Group Department of Human Sciences Loughborough University Loughborough Leicestershire UK

This paper presents an automatic method to trim arms from the surface scan data of the human body. Curve and surface approximation are employed to refill the data gap after the trimming process. This delivers a more r... 详细信息

关键词： Curve fitting Humans Torso Biological system modeling Arm Spline Anthropometry Shape displays detection algorithms

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data acquisition and representation of mechanical parts and interfaces to manufacturing devices

Data acquisition and representation of mechanical parts and ...

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international conference on 3d imaging, modeling, Processing, Visualization and Transmission (3dIMPVT)

作者： R. Bajcsy R. Pito General Robotics & Active Sensory Perception Laboratory Department of Computer and Information Science University of Pennsylvania Philadelphia PA USA

In this paper we address data acquisition, data representation and interfaces to manufacturing devices as they relate to automatic creation of electronic files for representing the complete geometry of an arbitrarily ... 详细信息

关键词： data acquisition design automation Computer aided manufacturing Manufacturing automation Pulp manufacturing Geometry Reverse engineering Prototypes Biological system modeling Position measurement

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Generalized cylinders extraction in a range image

Generalized cylinders extraction in a range image

引用

international conference on 3d imaging, modeling, Processing, Visualization and Transmission (3dIMPVT)

作者： d. dion d. Laurendeau R. Bergevin Computer Vision and Systems Laboratory Laval University QUE Canada

We deal with 3d object modeling using generalized cylinders from a single range image. We focus on right generalized cylinders, a class of generalized cylinders for which the cross-section is at right angle with the axis. No homogeneity or straightness constraints are imposed. The crucial part of this work is the extraction of axis points and the representation of the axis curve in 3d space. Interesting results are obtained with a broad variety of range images.

关键词： Layout Iterative algorithms Pixel Image segmentation Hysteresis Computer vision Object recognition Polynomials Curve fitting Merging

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3d imager for dimensional gauging of industrial workpieces: state of the art of the development of a robust and versatile system

3D imager for dimensional gauging of industrial workpieces: ...

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international conference on 3d imaging, modeling, Processing, Visualization and Transmission (3dIMPVT)

作者： G. Sansoni S. Lazzari S. Peli F. docchio Department of Electronics for Automation University of Brescia Brescia Italy

In our laboratory, the performance of a 3d imaging system, based on structured light projection, has been improved by means of the development of three procedures, which are based on (i) the Gray Code projection Method (GCM), (ii) the Phase Shift Method (PSM), and (iii) the combination of GCM and PSM. In this paper, all the procedures are described and the results of the measurement performed on target objects are presented. The analysis of the systematic height error due to the crossed axes optical geometry of the system is performed, and the procedure for its compensation is presented.

关键词： Gratings Optical imaging High-resolution imaging Encoding Frequency Shape measurement Robustness Laboratories Reflective binary codes Performance evaluation

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3d modeling of human hand with motion constraints

3D modeling of human hand with motion constraints

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international conference on 3d imaging, modeling, Processing, Visualization and Transmission (3dIMPVT)

作者： Y. Yasumuro Qian Chen K. Chihara Graduate School of Information Science Nara Institute of Science and Technology Nara Japan

This paper describes a new approach for modeling of the human hand by considering the dynamics and the natural constraints of the motion and the shape of hands. The hand model consists of a dynamic model and a surface model. The dynamic model is used to generate the posture of the hand. We show that natural hand posture can be generated even only a few hand parameters are available. The surface model is used to generate the hand shape based on the posture obtained from the dynamic model. The surface model is built based on the digitized 3d shape of a real hand.

关键词： Humans Fingers Skeleton Animation Joints Character generation Image generation Shape control Computer graphics Application software

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