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

Guillem Alenya, Sergi Foix, Carme Torras, Babette Dellen

2009

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.

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