TY - JOUR
T1 - Model-based reconstruction of featureless objects for automated storage and transportation systems
AU - Sun, Yung Nien
AU - Wu, Chia Hsiang
AU - Chen, Zong Sheng
AU - Tsai, Song Jau
N1 - Funding Information:
Acknowledgements This work was partially supported by the China Steel Corporation, Taiwan, under Grant 93TIF-RE026. Also, this work made use of shared facilities supported by the Program of Top 100 Universities Advancement, Ministry of Education, Taiwan, ROC.
PY - 2008/4
Y1 - 2008/4
N2 - Three-dimensional (3D) reconstruction from images usually relies on matched point correspondences across images, and the number of detected feature points should be as great as possible to fully describe the object geometry. Featureless objects, such as heaps of raw ore that are of similar color and present very few feature points, however, can usually be seen in many industrial applications, and their 3D reconstruction is essential to developing automated storage and transportation systems. Therefore, we propose a model-based method that utilizes a generic model with an additional reference point to estimate the 3D structure of a featureless object which is the ore pile in our cases. The size, position, and orientation of the estimated object are then optimized, followed by redundant area removal to fit the finer details. We also extend the method to the reconstruction of multiple objects. Experimental results show that the method successfully reconstructs featureless objects having similar colors and textures.
AB - Three-dimensional (3D) reconstruction from images usually relies on matched point correspondences across images, and the number of detected feature points should be as great as possible to fully describe the object geometry. Featureless objects, such as heaps of raw ore that are of similar color and present very few feature points, however, can usually be seen in many industrial applications, and their 3D reconstruction is essential to developing automated storage and transportation systems. Therefore, we propose a model-based method that utilizes a generic model with an additional reference point to estimate the 3D structure of a featureless object which is the ore pile in our cases. The size, position, and orientation of the estimated object are then optimized, followed by redundant area removal to fit the finer details. We also extend the method to the reconstruction of multiple objects. Experimental results show that the method successfully reconstructs featureless objects having similar colors and textures.
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U2 - 10.1007/s10845-008-0070-z
DO - 10.1007/s10845-008-0070-z
M3 - Article
AN - SCOPUS:40849104749
SN - 0956-5515
VL - 19
SP - 149
EP - 159
JO - Journal of Intelligent Manufacturing
JF - Journal of Intelligent Manufacturing
IS - 2
ER -