A View Planning Method for 3D Reconstruction with Unknown Feature Prediction
文献类型：会议论文
| 作者 | Kong YZ(孔研自)2,3,4,5; Zhu F(朱枫)3,4,5 ; Sun HB(孙海波)1,3,4,5; Lin ZY(林智远)2,3,4,5; Wang Q(王群)2,3,4,5; Wang JY(王健宇)1,3,4,5
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| 出版日期 | 2022 |
| 会议日期 | February 10-12, 2022 |
| 会议地点 | Virtual, Munich, Germany |
| 关键词 | active reconstruction intelligent perception sensor control view planing |
| 页码 | 182-187 |
| 英文摘要 | Active reconstruction can be considered as an intelligent perception problem that seeks to optimize the efficiency of the modeling tasks by adjusting the configuration of vision system on robotic platform automatically. We consider a feature as several local surfaces that have the same kinds of characteristics. A standard geometry can be defined by attributes abstracted from a set of features. For the regular geometry of the same category, descriptions and topological relations about these objects' features are known before modeling tasks. In order to maximize the acquisition of an object's surface in a few views, knowledge of its features is employed as partial prior information that guides the view planning in active reconstruction. Since each reconstruction task may have a different type of object to be rebuilt, in order to make the view planning algorithm suitable for different tasks, we store the prior information of the object in a fixed-form database, so as to call the content of the library to perform verification and reasoning of all features, and make predictions on unknown local surface and rough shape of the object. The predicted unknown surface is discretized and then marked as predicted voxels in the voxel space, which are used to evaluate the priority of all candidate viewpoints, together with the detected voxels. A novel hybrid optimization function is proposed that takes the constraint on overlap, the accessibility of predicted surface, and the amount of unknown object surface into account. Simulated experiments are conducted and the results show that our method is efficient for reconstruction. |
| 产权排序 | 1 |
| 会议录 | 2022 8th International Conference on Mechatronics and Robotics Engineering, ICMRE 2022
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-6654-8377-3 |
| 源URL | [http://ir.sia.cn/handle/173321/30839]  |
| 专题 | 沈阳自动化研究所_光电信息技术研究室 |
| 通讯作者 | Kong YZ(孔研自) |
| 作者单位 | 1.Northeastern University, Shenyang, China 2.University of Chinese Academy of Sciences, Beijing, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China 4.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 5.Key Laboratory of Opto-Electronic Information Processing, Chinese Academy of Sciences, Shenyang, China |
| 推荐引用方式 GB/T 7714 | Kong YZ,Zhu F,Sun HB,et al. A View Planning Method for 3D Reconstruction with Unknown Feature Prediction[C]. 见:. Virtual, Munich, Germany. February 10-12, 2022. |
入库方式： OAI收割
来源：沈阳自动化研究所
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