Tree-based search of the next best view/state for three-dimensional object reconstruction

Vasquez-Gomez, J. Irving; Sucar, Luis Enrique; Murrieta-Cid, Rafael; Lozada, Juan Carlos Herrera

doi:10.1177/1729881418754575

Cited by 14 publications

(5 citation statements)

References 27 publications

(66 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Two common solutions are voxel-grid representations and polygonal meshes. While voxel grids are often used if the to be measured object or volume is unknown [16][17][18] , model-based approached commonly use triangular meshes. 19 For most cases in production engineering, polygonal meshes are created from an existing parametric model of the object through a tessellation algorithms.…”

Section: Virtual Modelmentioning

confidence: 99%

See 1 more Smart Citation

Model based view planning for the robot-guided automation of optical 3D digitization based on a variable mesh resolution processing approach

Geiger

Sauerbier

Montavon

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part B:

View full text Add to dashboard Cite

The digital 3D representation of manufactured parts plays a crucial role in the quality assurance of small, individualized lot sizes. Machine vision systems, such as optical 3D scanners, guided by an industrial robotic arm, allow for a contactless full digital reconstruction of surface geometries. In order to digitize the whole geometry, it is necessary to acquire 3D scans from multiple viewpoints with respect to the part, which in combination cover the entire surface. With efficiency in mind, this results in an optimization problem between a high surface area coverage and low measurement effort, referred to as the view planning problem. In the presented work, two popular viewpoint candidate generation methods are implemented: Firstly, a surface-based random sampling method, which generates viewpoints within a solution space, in which visibility of a given model surface can be expected. Secondly, a view sphere viewpoint generation approach, which is independent of the object geometry but avoids clustering by generating evenly spaced viewpoints on a sphere around the centre of the object. Using an adjustable remeshing procedure, a multi-stage approach is implemented by generating multiple meshes with different resolutions. Through this, the benefits of working on a coarse mesh, such as fast viewpoint candidate evaluation and selection, are combined with the level of detail of a fine mesh. It is found that it is possible to considerably reduce the mesh resolution while maintaining a reasonably high surface area coverage on a reference model. Applying the proposed procedure to the view planning for a state-of-the-art 3D fringe light projection scanner with highly sophisticated scanning capabilities, it is demonstrated that the view sphere approach is more suitable for this use-case due to the large measurement volumes of the 3D scanner. The frequently used random sampling approach requires an excessively higher computational effort to achieve similar results in comparison.

show abstract

Section: Virtual Modelmentioning

confidence: 99%

“…Two common solutions are voxel-grid representations and polygonal meshes. While voxel grids are often used if the to be measured object or volume is unknown 16–18 , model-based approached commonly use triangular meshes. 19…”

Section: State Of the Artmentioning

confidence: 99%

Model based view planning for the robot-guided automation of optical 3D digitization based on a variable mesh resolution processing approach

Geiger

Sauerbier

Montavon

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part B:

View full text Add to dashboard Cite

show abstract

“…We generate the sample configurations only within the free space in the search region R search . This approach, similarly to that in Vasquez-Gomez et al (2018) and Bircher et al (2018), simultaneously processes the sample evaluation and path planning. Thus, all the samples in the RRT* can feasibly be reached and their paths are inherently collision-free.…”

Section: Goal Determination and Global Path Planningmentioning

confidence: 99%

Online coverage and inspection planning for 3D modeling

Song

Kim

2020

Auton Robot

View full text Add to dashboard Cite

In this study, we address an exploration problem when constructing complete 3D models in an unknown environment using a Micro-Aerial Vehicle. Most previous exploration methods were based on the Next-Best-View (NBV) approaches, which iteratively determine the most informative view, that exposes the greatest unknown area from the current partial model. However, these approaches sometimes miss minor unreconstructed regions like holes or sparse surfaces (while these can be important features). Furthermore, because the NBV methods iterate the next-best path from a current partial view, they sometimes produce unnecessarily long trajectories by revisiting known regions. To address these problems, we propose a novel exploration algorithm that integrates coverage and inspection strategies. The suggested algorithm first computes a global plan to cover unexplored regions to complete the target model sequentially. It then plans local inspection paths that comprehensively scans local frontiers. This approach reduces the total exploration time and improves the completeness of the reconstructed models. We evaluate the proposed algorithm in comparison with other state-of-the-art approaches through simulated and real-world experiments. The results show that our algorithm outperforms the other approaches and in particular improves the completeness of surface coverage. IntroductionReconstructed 3D models of large environments are becoming more useful in many industrial fields, including agriculture, engineering, and construction. With the development of various mobile robots, many studies suggest various methods to realize autonomous modeling systems (Blaer and Allen 2009;Ramanagopal et al. 2018;Roberts et al. 2017). Recently, because of rapid technological advances, Micro-Aerial Vehicles (MAVs) have become the most widely-used robots in the modeling systems. With their high maneuverability, MAVs can acquire information from almost any Electronic supplementary material The online version of this article (

show abstract

“…Vasquez-Gomez et al find the state of the robot whose corresponding sensor view observes the object. 7 The method does not require to calculate the inverse kinematics of the robot. The method guides the search with a tree structure based on a rapidly exploring random tree overcoming previous sampling techniques.…”

Section: The Papersmentioning

confidence: 99%