Object modeling using a ToF camera under an uncertainty reduction approach
Cita com:
hdl:2117/8684
Tipus de documentText en actes de congrés
Data publicació2010
Condicions d'accésAccés obert
Tots els drets reservats. Aquesta obra està protegida pels drets de propietat intel·lectual i
industrial corresponents. Sense perjudici de les exempcions legals existents, queda prohibida la seva
reproducció, distribució, comunicació pública o transformació sense l'autorització del titular dels drets
Abstract
Time-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.
CitacióFoix, S. [et al.]. Object modeling using a ToF camera under an uncertainty reduction approach. A: IEEE International Conference on Robotics and Automation. "2010 IEEE International Conference on Robotics and Automation". Anchorage: 2010, p. 1306-1312.
Versió de l'editorhttp://dx.doi.org/10.1109/ROBOT.2010.5509197
Col·leccions
Fitxers | Descripció | Mida | Format | Visualitza |
---|---|---|---|---|
1132-Object-mod ... y-reduction-approach-1.pdf | 1,206Mb | Visualitza/Obre |