ICRA'09 Paper Abstract


Paper FrC2.2

Lippiello, Vincenzo (UniversitÓ di Napoli Federico II), Ruggiero, Fabio (UniversitÓ di Napoli Federico II)

Surface Model Reconstruction of 3D Objects from Multiple Views

Scheduled for presentation during the Regular Sessions "Computer Vision for Robotics and Automation - IV" (FrC2), Friday, May 15, 2009, 13:50−14:10, Room: ICR

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Computer Vision for Robotics and Automation


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.



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