Title:
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3D object reconstruction from Swissranger sensor data using a spring-mass model
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Author:
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Dellen, Babette; Alenyà Ribas, Guillem; Foix Salmerón, Sergi; Torras, Carme
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Other authors:
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Universitat Politècnica de Catalunya. Departament de Llenguatges i Sistemes Informàtics; Institut de Robòtica i Informàtica Industrial |
Abstract:
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We register close-range depth images of objects using a Swissranger sensor and apply a spring-mass model for 3D object reconstruction. The Swissranger sensor delivers depth images in real time which have, compared with other types of sensors, such as laser scanners, a lower resolution and are afflicted with larger uncertainties.
To reduce noise and remove outliers in the data, we treat the point cloud as a system of interacting masses connected via elastic forces. We investigate two models, one with and one without a surface-topology preserving interaction strength. The algorithm is applied to synthetic and real Swissranger sensor data, demonstrating
the feasibility of the approach. This method represents a preliminary step before fitting higher-level surface descriptors to the data, which will be required to define object-action complexes (OACS) for robot
applications. |
Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robots -Swissranger sensor
3D reconstruction
Spring-mass model -Robòtica -Classificació AMS::53 Differential geometry::53D Symplectic geometry, contact geometry |
Rights:
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Document type:
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Article - Published version Book Part |
Published by:
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INSTICC Press. Institute for Systems and Technologies of Information, Control and Communication
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