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Título: | 3D object reconstruction from Swissranger sensor data using a spring-mass model |
Autor: | Dellen, Babette CSIC; Alenyà, Guillem CSIC ORCID ; Foix, Sergi CSIC ORCID; Torras, Carme CSIC ORCID | Palabras clave: | Swissranger sensor 3D-reconstruction Spring-mass model |
Fecha de publicación: | 2009 | Editor: | Springer Nature | Citación: | Proceedings of the International Conference on Computer Vision Theory and Applications: 368-372 (2009) | Resumen: | We register close-range depth images of objects using a Swissranger sensor and apply a spring-mass model for 3D object reconstruction. The Swissranger sensor delivers depth images in real time which have, compared with other types of sensors, such as laser scanners, a lower resolution and are afflicted with larger uncertainties. To reduce noise and remove outliers in the data, we treat the point cloud as a system of interacting masses connected via elastic forces. We investigate two models, one with and one without a surface-topology preserving interaction strength. The algorithm is applied to synthetic and real Swissranger sensor data, demonstrating the feasibility of the approach. This method represents a preliminary step before fitting higher-level surface descriptors to the data, which will be required to define object-action complexes (OACS) for robot applications. | Descripción: | Presentado al International Conference on Computer Vision Theory and Applications (VISAPP/2009) celebrado en Lisboa (Portugal). | Versión del editor: | http://www.visapp.visigrapp.org/VISAPP2009/ | URI: | http://hdl.handle.net/10261/30113 | ISBN: | 9789898111692 |
Aparece en las colecciones: | (IRII) Libros y partes de libros |
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3D object reconstruction.pdf | 3,6 MB | Adobe PDF | Visualizar/Abrir |
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