3D OBJECT RECONSTRUCTION FROM SWISSRANGER SENSOR DATA USING A SPRING-MASS MODEL

Guillem Alenya; Sergi Foix; Carme Torras; Babette Dellen

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Paper

3D OBJECT RECONSTRUCTION FROM SWISSRANGER SENSOR DATA USING A SPRING-MASS MODEL

Topics: Recognizing 3-D Object Shapes from Range Data

In Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, 368-372, 2009 , Lisboa, Portugal

Authors: Guillem Alenya ¹ ; Sergi Foix ¹ ; Carme Torras ¹ and Babette Dellen ²

Affiliations: ¹ Institut de Robòtica i Informàtica Industrial (CSIC-UPC), Spain ; ² Max Planck Institut for Dynamics and Self-Organization, Germany

Keyword(s): Swissranger sensor, 3D reconstruction, Spring-mass model.

Abstract: 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.

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Paper citation in several formats:

Alenya, G.; Foix, S.; Torras, C. and Dellen, B. (2009). 3D OBJECT RECONSTRUCTION FROM SWISSRANGER SENSOR DATA USING A SPRING-MASS MODEL. In Proceedings of the Fourth International Conference on Computer Vision Theory and Applications (VISIGRAPP 2009) - Volume 2: VISAPP; ISBN 978-989-8111-69-2; ISSN 2184-4321, SciTePress, pages 368-372. DOI: 10.5220/0001819603680372

@conference{visapp09,
author={Guillem Alenya. and Sergi Foix. and Carme Torras. and Babette Dellen.},
title={3D OBJECT RECONSTRUCTION FROM SWISSRANGER SENSOR DATA USING A SPRING-MASS MODEL},
booktitle={Proceedings of the Fourth International Conference on Computer Vision Theory and Applications (VISIGRAPP 2009) - Volume 2: VISAPP},
year={2009},
pages={368-372},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001819603680372},
isbn={978-989-8111-69-2},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Computer Vision Theory and Applications (VISIGRAPP 2009) - Volume 2: VISAPP
TI - 3D OBJECT RECONSTRUCTION FROM SWISSRANGER SENSOR DATA USING A SPRING-MASS MODEL
SN - 978-989-8111-69-2
IS - 2184-4321
AU - Alenya, G.
AU - Foix, S.
AU - Torras, C.
AU - Dellen, B.
PY - 2009
SP - 368
EP - 372
DO - 10.5220/0001819603680372
PB - SciTePress