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View Planning for the 3D Modelling of Real World Scenes

: Klein, K.; Sequeira, V.

IEEE Computer Society; Robotics Society of Japan -RSJ-:
IEEE/RSJ International Conference on Intelligent Robots and Systems 2000. Proceedings. CD-ROM
Los Alamitos, Calif.: IEEE Computer Society Press, 2000
ISBN: 0-7803-6351-5
International Conference on Intelligent Robots and Systems (IROS) <13, 2000, Takamatsu>
Fraunhofer IGD ()
view planning; active vision; range image; robot vision; autonomous exploration

In recent years, several methods of reconstructing 3D scenes from range images have been proposed. Currently, the factor limiting a fully automated reconstruction process is the lack of a sufficiently scalable planning algorithm for the acquisition step. Here, we present a novel technique of iteratively planning the next view for a range scanner in an initially unknown, large indoor environment. When designing an algorithm suitable for architectural environments, two main problems have to be addressed: First, an objective function has to be defined to optimise the parameters of the next view. We propose an objective function based on the analysis of occlusions which takes into account both a quality criterion and the cost of the next acquisition. Second, the parameters of the next view have to be computed efficiently for a large search space with eight degrees of freedom. Our technique exploits hardware-accelerated rendering (OpenGL) in order to perform the expensive visibility computation, which reduces the computation time of one planning step to a few minutes. Results are shown for two large indoor scenes -- an artificial scene and a real world room -- with numerous self occlusions.