General 3D modelling of novel objects from a single view

In this paper we present a method for building models for grasping from a single 3D snapshot of a scene composed of objects of daily use in human living environments. We employ fast shape estimation, probabilistic model fitting and verification methods capable of dealing with different kinds of symm...

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Bibliographic Details
Published in2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 3700 - 3705
Main Authors Marton, Z, Pangercic, D, Blodow, N, Kleinehellefort, J, Beetz, M
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2010
Subjects
Cameras
Estimation
Robot sensing systems
Shape
Solid modeling
Surface reconstruction
Three dimensional displays
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ISBN9781424466740
1424466741
ISSN2153-0858
DOI10.1109/IROS.2010.5650434

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Summary:In this paper we present a method for building models for grasping from a single 3D snapshot of a scene composed of objects of daily use in human living environments. We employ fast shape estimation, probabilistic model fitting and verification methods capable of dealing with different kinds of symmetries, and combine these with a triangular mesh of the parts that have no other representation to model previously unseen objects of arbitrary shape. Our approach is enhanced by the information given by the geometric clues about different parts of objects which serve as prior information for the selection of the appropriate reconstruction method. While we designed our system for grasping based on single view 3D data, its generality allows us to also use the combination of multiple views. We present two application scenarios that require complete geometric models: grasp planning and locating objects in camera images.
ISBN:9781424466740
1424466741
ISSN:2153-0858
DOI:10.1109/IROS.2010.5650434