RoboScan: an automatic system for accurate and unattended 3D scanning

被引：42

作者：

Callieri, M ^{[1
]}

Fasano, A ^{[1
]}

Impoco, G ^{[1
]}

Cignoni, P ^{[1
]}

Scopigno, R ^{[1
]}

Parrini, G ^{[1
]}

Biagini, G ^{[1
]}

机构：

[1] CNR, ISTI, I-56124 Pisa, Italy

来源：

2ND INTERNATIONAL SYMPOSIUM ON 3D DATA PROCESSING, VISUALIZATION, AND TRANSMISSION, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/TDPVT.2004.1335398

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We describe an automatic system for fast unattended acquisition of accurate and complete 3D models, called RoboScan. The design goal is to reduce the three main bottlenecks in human-assisted 3D scanning: the selection of the range maps to be taken (view planning), the positioning of the scanner in the environment, and the range maps' alignment. The system is designed around a commercial laser-based 3D scanner moved by a robotic arm. The acquisition session is organised in two stages. First, an initial sampling of the surface is performed by the automatic selection of a set of views. Then, some added views are automatically selected, acquired and merged to the initial set in order to fill the surface regions left unsampled. Both the initial set of range maps and the subsequently added ones are post-processed automatically, by using the known scanner positions to initialise the alignment phase. Results of the assessment of the system on real acquisitions are presented and discussed.

引用

页码：805 / 812

页数：8

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