Geometric Modeling Using Both Active And Passive Sensing

Y. F. Wang; J. K. Aggarwal

doi:10.1117/12.948907

5 January 1989 Geometric Modeling Using Both Active And Passive Sensing

Y. F. Wang, J. K. Aggarwal

Proceedings Volume 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation; (1989) https://doi.org/10.1117/12.948907
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

In this paper, we introduce a new algorithm for modeling the structure of 3-D objects from multiple viewing directions using an integration of active and passive sensing. Construction of the structural description of a 3-D object is composed of two stages: (i) The surface orientation and partial structure are first inferred from a set of single views, and (ii) the visible surface structures inferred from different viewpoints are integrated to complete the description of the 3-D object. In the first stage, an active stripe coding technique is used for recovering visible surface orientation and partial structure. In the second stage, an iterative construction/refinement scheme is used which exploits both passive and active sensing for representing the object surfaces. The active sensing technique projects spatially modulated light patterns to encode the object surfaces for analysis. The visible surface orientation is inferred using a constraint satisfaction process based upon the observed orientation of the projected patterns. The visible surface structure is recovered by integrating a dense orientation map. For multiple view integration, the bounding volume description of the imaged object is first constructed using multiple occluding contours which are acquired through passive sensing. The bounding volume description is then refined using the partial surface structures inferred from active sensing. The final surface structure is recorded in a data structure where the surface contours in a set of parallel planar cross sections are stored. The system construction is inexpensive and the algorithms introduced are adaptive, versatile and suitable for applications in dynamic environments. We expect this approach to be widely applicable in the field of robotics, geometric modeling and factory automation.

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Y. F. Wang and J. K. Aggarwal "Geometric Modeling Using Both Active And Passive Sensing", Proc. SPIE 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation, (5 January 1989); https://doi.org/10.1117/12.948907

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