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Active Object Modeling with VIRTUE

Active Object Modeling with VIRTUE This paper presents a vision system for the task of actively acquiring and modeling the geometry of an unknown object. Using an active trinocular stereo head (VIRTUE), sensed 3-D line segments are grouped into a polyhedral volumetric model through the aid of a constrained Delaunay triangulation. Partial models and a viewpoint enumeration scheme are used to guide the image acquisition process and to determine ‘where to look next’. Results of the active vision recovery of a number of objects are provided with their associated volumetric and surface errors. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Autonomous Robots Springer Journals

Active Object Modeling with VIRTUE

Autonomous Robots , Volume 8 (2) – Oct 3, 2004

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References (50)

Publisher
Springer Journals
Copyright
Copyright © 2000 by Kluwer Academic Publishers
Subject
Engineering; Robotics and Automation; Artificial Intelligence (incl. Robotics); Computer Imaging, Vision, Pattern Recognition and Graphics; Control, Robotics, Mechatronics
ISSN
0929-5593
eISSN
1573-7527
DOI
10.1023/A:1008935628281
Publisher site
See Article on Publisher Site

Abstract

This paper presents a vision system for the task of actively acquiring and modeling the geometry of an unknown object. Using an active trinocular stereo head (VIRTUE), sensed 3-D line segments are grouped into a polyhedral volumetric model through the aid of a constrained Delaunay triangulation. Partial models and a viewpoint enumeration scheme are used to guide the image acquisition process and to determine ‘where to look next’. Results of the active vision recovery of a number of objects are provided with their associated volumetric and surface errors.

Journal

Autonomous RobotsSpringer Journals

Published: Oct 3, 2004

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