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

Guillem Alenya, Sergi Foix, Carme Torras, Babette Dellen

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.

References

  1. Amenta, N., Bern, M., and Kamvysselis, M. (1998). A new voronoi-based surface reconstruction algorithm. In SIGGRAPH 7898, pages 415-421, New York, NY, USA. ACM.
  2. Besl, P. J. and McKay, N. D. (1992). A method for registration of 3-d shapes. IEEE Transactions on Pattern Analysis and Machine Intelligence, 14(2):239-256.
  3. Carr, J., Beatson, R., Cherrie, J., Mitchell, T., Fright, W., McCallum, B., and Evans, T. (2001). Reconstruction and representation of 3d objects with radial basis functions. In Fuime, E., editor, Proceedings of SIGGRAPH 2001, pages 67-76. ACM Press/ACM SIGGRAPH.
  4. Chua, C. S. and Jarvis, R. (1997). Point signatures: a new representation for 3d object recognition. International Journal of Computer Vision, 25(1):63-85.
  5. Cuen, S., Andrade, J., and Torras, C. (2008). Action selection for robotic manipulation of deformable objects. In Proc. ESF-JSPS Conference on Experimental Cognitive Robotics, Kanagawa.
  6. Curless, B. and Levoy, M. (1996). A volumetric method for building complex models from range images. In Proceedings of SIGGRAPH'96.
  7. Fuchs, S. and May, S. (2008). 3d pose estimation and mapping with time-of-flight cameras. In Workshop on 3DMapping, IEEE International Conference on Intelligent Robots and Systems (IROS 2008).
  8. Hoppe, H., DeRose, T., Duchamp, T., McDonald, J., and Stuetzle, W. (1992). Surface reconstruction from unorganized points. In SIGGRAPH 7892, pages 71-78, New York, NY, USA. ACM.
  9. Liang, P. and Todhunter, J. S. (1990). Representation and recognition of surface shapes in range images. Computer Vision, Graphics and Image Procesing, 52(10):78-109.
  10. Oprisescu, S., Falie, D., Ciuc, M., and Buzuloiu, V. (2007). Measurements with tof cameras and their necessary corrections. In Proc. ISSCS, pages 13-14.
  11. Seeger, S. and Laboureux, X. (2000). Feature extraction and registration: An overview. In Girod, B., Greiner, G., and Niemann, H., editors, Principles of 3D Image Analysis and Synthesis, pages 153-166, BostonDordrecht-London. Kluwer Academic Publishers.
  12. Szeliski, R., Tonnesen, D., and Terzopoulos, D. (1992). Modeling surfaces of arbitrary topology with dynamic particles. CVPR'93, pages 82-87.
  13. Tang, C. and Medioni, G. (2002). Curvature-augmented tensor voting for shape inference from noisy 3d data. IEEE Transactions on Pattern Analysis and Machine Intelligence, 26(6):858-864.
  14. Zhao, H., Osher, S., Merriman, B., and Kang, M. (2000). Implicit and non-parametric shape reconstruction from unorganized data using a variational level set method. In Proceedings of CVIU.
Download


Paper Citation


in Harvard Style

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 - Volume 2: VISAPP, (VISIGRAPP 2009) ISBN 978-989-8111-69-2, pages 368-372. DOI: 10.5220/0001819603680372


in Bibtex Style

@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},
}


in EndNote Style

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