Título:
|
3D object reconstruction from Swissranger sensor data using a spring-mass model
|
Autor/a:
|
Dellen, Babette; Alenyà Ribas, Guillem; Foix Salmerón, Sergi; Torras, Carme
|
Otros autores:
|
Universitat Politècnica de Catalunya. Departament de Llenguatges i Sistemes Informàtics; Institut de Robòtica i Informàtica Industrial |
Abstract:
|
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. |
Materia(s):
|
-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 |
Derechos:
|
|
Tipo de documento:
|
Artículo - Versión publicada Capítulo o parte de libro |
Editor:
|
INSTICC Press. Institute for Systems and Technologies of Information, Control and Communication
|
Compartir:
|
|