Tree-based search of the next best view/state for three-dimensional object reconstruction
Three-dimensional models from real objects have many applications in robotics. To automatically build a three-dimensional model from an object, it is essential to determine where to place the range sensor in order to completely observe the object. However, the view (position and orientation) of the...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2018-02-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881418754575 |
| _version_ | 1819074951161839616 |
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| author | J Irving Vasquez-Gomez L Enrique Sucar Rafael Murrieta-Cid Juan-Carlos Herrera-Lozada |
| author_facet | J Irving Vasquez-Gomez L Enrique Sucar Rafael Murrieta-Cid Juan-Carlos Herrera-Lozada |
| author_sort | J Irving Vasquez-Gomez |
| collection | DOAJ |
| description | Three-dimensional models from real objects have many applications in robotics. To automatically build a three-dimensional model from an object, it is essential to determine where to place the range sensor in order to completely observe the object. However, the view (position and orientation) of the sensor is not sufficient, given that its corresponding robot state needs to be calculated. Additionally, a collision-free trajectory to reach that state is required. In this article, we directly find the state of the robot whose corresponding sensor view observes the object. This method does not require to calculate the inverse kinematics of the robot. Unlike previous approaches, the proposed method guides the search with a tree structure based on a rapidly exploring random tree overcoming previous sampling techniques. In addition, we propose an information metric that improves the reconstruction performance of previous information metrics. |
| first_indexed | 2024-12-21T18:17:40Z |
| format | Article |
| id | doaj.art-9323ad4be409464db383b0f90f4c3a32 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-21T18:17:40Z |
| publishDate | 2018-02-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-9323ad4be409464db383b0f90f4c3a322022-12-21T18:54:38ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142018-02-011510.1177/1729881418754575Tree-based search of the next best view/state for three-dimensional object reconstructionJ Irving Vasquez-Gomez0L Enrique Sucar1Rafael Murrieta-Cid2Juan-Carlos Herrera-Lozada3 Consejo Nacional de Ciencia y Tecnología - Instituto Politécnico Nacional, Centro de Innovación y Desarrollo Tecnológico en Cómputo, Ciudad de México, México. Instituto Nacional de Astrofísica Óptica y Electrónica, Puebla, Mexico Centro de Investigación en Matemáticas, Guanajuato, Mexico Instituto Politécnico Nacional, Centro de Innovación y Desarrollo Tecnológico en Cómputo, Ciudad de México, MexicoThree-dimensional models from real objects have many applications in robotics. To automatically build a three-dimensional model from an object, it is essential to determine where to place the range sensor in order to completely observe the object. However, the view (position and orientation) of the sensor is not sufficient, given that its corresponding robot state needs to be calculated. Additionally, a collision-free trajectory to reach that state is required. In this article, we directly find the state of the robot whose corresponding sensor view observes the object. This method does not require to calculate the inverse kinematics of the robot. Unlike previous approaches, the proposed method guides the search with a tree structure based on a rapidly exploring random tree overcoming previous sampling techniques. In addition, we propose an information metric that improves the reconstruction performance of previous information metrics.https://doi.org/10.1177/1729881418754575 |
| spellingShingle | J Irving Vasquez-Gomez L Enrique Sucar Rafael Murrieta-Cid Juan-Carlos Herrera-Lozada Tree-based search of the next best view/state for three-dimensional object reconstruction International Journal of Advanced Robotic Systems |
| title | Tree-based search of the next best view/state for three-dimensional object reconstruction |
| title_full | Tree-based search of the next best view/state for three-dimensional object reconstruction |
| title_fullStr | Tree-based search of the next best view/state for three-dimensional object reconstruction |
| title_full_unstemmed | Tree-based search of the next best view/state for three-dimensional object reconstruction |
| title_short | Tree-based search of the next best view/state for three-dimensional object reconstruction |
| title_sort | tree based search of the next best view state for three dimensional object reconstruction |
| url | https://doi.org/10.1177/1729881418754575 |
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