A surface-based Next-Best-View approach for automated 3D model completion of unknown objects

The procedure of manually generating a 3D model of an object is very time consuming for a human operator. Next best-view (NBV) planning is an important aspect for automation of this procedure in a robotic environment. We propose a surface-based NBV approach, which creates a triangle surface from a r...

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Bibliographic Details
Main Authors: Kriegel, Simon, Bodenmuller, Tim, Suppa, Michael, Hirzinger, Gerd
Format: Conference Proceeding
Language:English
Subjects:
Humans
Laser modes
Robot sensing systems
Service robots
Solid modeling
Three dimensional displays
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Summary:The procedure of manually generating a 3D model of an object is very time consuming for a human operator. Next best-view (NBV) planning is an important aspect for automation of this procedure in a robotic environment. We propose a surface-based NBV approach, which creates a triangle surface from a real-time data stream and determines viewpoints similar to human intuition. Thereby, the boundaries in the surface are detected and a quadratic patch for each boundary is estimated. Then several viewpoint candidates are calculated, which look perpendicular to the surface and overlap with previous sensor data. A NBV is selected with the goal to fill areas which are occluded. This approach focuses on the completion of a 3D model of an unknown object. Thereby, the search space for the viewpoints is not restricted to a cylinder or sphere. Our NBV determination proves to be very fast, and is evaluated in an experiment on test objects, applying an industrial robot and a laser range scanner.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2011.5979947