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Complete 3D boundary representation from multiple range images: exploiting geometric constraints*

Published online by Cambridge University Press:  09 March 2009

Kamal Gupta  and
Zukang Xu
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Summary

We describe an approach that generates a complete b-rep description of a polyhedral object from (geometric primitives derived from) dense range images taken from multiple view-points. Our approach, starting from basic face models of visible surfaces of objects in each local view, matches certain geometric features, extracts rigid-body transformations that relate the local views, and incrementally merges the face models (in local views) into a global 3-dimensional b-rep description of the object. A convenient and effective termination criterion is designed to monitor the merging process. The emphasis is on the use of geometric constraints in building a complete 3-dimensional model of the object.

We have implemented this system in C, running on a SUN Sparcstation. The system, as presented, has been tested on face models derived from several synthetic and real range images and performs successfully with realistic noise levels.

Keywords

Geometric constraintsPolyhedral object3-dimensional modelMultiple range images
Type
Articles
Information
Robotica , Volume 13 , Issue 4 , July 1995 , pp. 339 - 349
Copyright
Copyright © Cambridge University Press 1995

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