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Proceedings Paper

Constructing 3-D Models Of A Scene From Planned Multiple Views
Author(s): Shun-en Xie; Thomas W. Calvert
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Paper Abstract

Whether in an office, a warehouse or a home, the mobile robot must often work in a cluttered environment; although the basic layout of the environment may be known in advance, the nature and placement of objects within the environment will generally be unknown. Thus the intelligent mobile robot must be able to sense its environment with a vision system and it must be able to analyse multiple views to construct 3-d models of the objects it encounters. Since this analysis results in a heavy computational load, it is important to minimize the number of views and to use a planner to dynamically select a minimal set of vantage viewpoints. This paper discusses an approach to this general problem and describes a prototype system for a mobile intelligent robot which can construct 3-d models from planned sequential views. The principal components of this system are: (1) decomposition of a framed view into its components and the construction of partial 3-d descriptions of the view, (2) matching of the known environment to the partial 3-d descriptions of the view, (3) matching of partial descriptions of bodies derived from the current view with partial models constructed from previous views, (4) identification of new information in the current view and use of the information to update the models, (5) identification of unknown parts of partially constructed body models so that further viewpoints can be planned, (6) construction of a partial map of the scene and updating with each successive view, (7) selection of new viewpoints to maximize the information returned by a planner, (8) use of an expert system to convert the original boundary representations of the bodies to a new Constructive Solid Geometry-Extended Enhanced Spherical Image (CSG-EESI) representation to facilitate the recovery of structural information. Although the complete prototype system has not been implemented, its key components have been implemented and tested.

Paper Details

Date Published: 27 March 1987
PDF: 7 pages
Proc. SPIE 0726, Intelligent Robots and Computer Vision V, (27 March 1987); doi: 10.1117/12.937733
Show Author Affiliations
Shun-en Xie, Simon Fraser University (United States)
Thomas W. Calvert, Simon Fraser University (United States)

Published in SPIE Proceedings Vol. 0726:
Intelligent Robots and Computer Vision V
David P. Casasent, Editor(s)

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