loading
Papers

Research.Publish.Connect.

Paper

Paper Unlock

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

ISBN: 978-989-8111-69-2

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.

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.204.48.199

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Alenya G.; Foix S.; Torras C.; Dellen B. and (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 - Volume 2: VISAPP, (VISIGRAPP 2009) ISBN 978-989-8111-69-2, 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 - Volume 2: VISAPP, (VISIGRAPP 2009)},
year={2009},
pages={368-372},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001819603680372},
isbn={978-989-8111-69-2},
}

TY - CONF

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

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.