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Object modeling using a ToF camera under an uncertainty reduction approach

AuthorsFoix, Sergi ; Alenyà, Guillem ; Andrade-Cetto, Juan ; Torras, Carme
KeywordsAutomation: Robots
Issue Date2010
CitationIEEE International Conference on Robotics and Automation: 1306-1312 (2010)
AbstractTime-of-Flight (ToF) cameras deliver 3D images at 25 fps, offering great potential for developing fast object modeling algorithms. Surprisingly, this potential has not been extensively exploited up to now. A reason for this is that, since the acquired depth images are noisy, most of the available registration algorithms are hardly applicable. A further difficulty is that the transformations between views are in general not accurately known, a circumstance that multi-view object modeling algorithms do not handle properly under noisy conditions. In this work, we take into account both uncertainty sources (in images and camera poses) to generate spatially consistent 3D object models fusing multiple views with a probabilistic approach. We propose a method to compute the covariance of the registration process, and apply an iterative state estimation method to build object models under noisy conditions.
DescriptionTrabajo presentado al ICRA 2010 celebrado en Anchorage (Alaska) del3 al 7 de mayo.
Publisher version (URL)http://dx.doi.org/10.1109/ROBOT.2010.5509197
Appears in Collections:(IRII) Libros y partes de libros
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