NDLI: A robotic system for 3D model acquisition from multiple range images

Content Provider	IEEE Xplore Digital Library
Author	Reed, M.K. Allen, P.K.
Copyright Year	1997
Description	Author affiliation: Dept. of Comput. Sci., Columbia Univ., New York, NY, USA (Reed, M.K.)
Abstract	This paper describes a robotic system that builds a 3D CAD model of an object incrementally from multiple range images. It motivates the generation of a solid model at each stage of the modeling process, allowing the use of well-defined geometric algorithms to perform the merging and integration task. The data from each imaging operation is represented by a mesh, which is then extruded in the viewing direction to form a solid model. These solids are merged as they are acquired into a composite model of the object. We describe an algorithm that builds a solid model from a mesh surface and present experimental results of reconstructing a complex object. In addition, we discuss an approach to completely automating the model acquisition process by integration with previous sensor-planning results.
Starting Page	2509
Ending Page	2514
File Size	892614
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.619338
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Solid modeling Robot sensing systems Process planning Mobile robots Robotic assembly Merging Robotics and automation Computer science Surface reconstruction Image reconstruction
Content Type	Text
Resource Type	Article

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