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3D object reconstruction from Swissranger sensor data using a spring-mass model
Dellen, Babette; Alenyà Ribas, Guillem; Foix Salmerón, Sergi; Torras, Carme
Universitat Politècnica de Catalunya. Departament de Llenguatges i Sistemes Informàtics; Universitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial
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.
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
info:eu-repo/semantics/publishedVersion
info:eu-repo/semantics/bookPart
INSTICC Press. Institute for Systems and Technologies of Information, Control and Communication
         

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