Abstract-We present a closed-form, physically based solution for recovering a 3-D solid model from collections of 3-D surface measurements. Given a sufficient number of independent measurements, the solution is overconstrained and unique except for rotational symmetries. We then present a physically based objectrecognition method that allows simple, closed-form comparisons of recovered 3-D solid models. The performance of these methods is evaluated using both synthetic range data with various signalto-noise ratios and using laser rangefinder data.Index Terms-deformable models, finite element method, model analysis, modal-based vision, object recognition, physically based modeling, shape representation, 3-D shape recovery.
Vision and Modeling Group, E15-387, The Media Lab, M .I .T . 20 Ames St ., Cambridge MA 0213 8Abstrac tWe describe a real-time solid modeling system tha t is based on the physical analogy of forming cla y by applying forces . The system is implemented by simulating real materials as they react to usersupplied forces . Unlike other physically-based modeling approaches, the Thingworld system allows the user to restrict forming action to simple global deformations during the initial "roughing in" phase of modeling, and then later concer n themselves with detailing . The Thingworld syste m also allows users to automatically model existin g objects by using measurements taken from the object's surface . These measurements are used to generate artificial forces that mold the compute r model much as a human would mold a clay model . Timed examples for constructing solid models ar e shown .
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