A robot visual servo-based approach to the determination of next best views

Lei Zhang, Junqiu Zuo, Xingtian Yao, Xingguo Zhang, Liguo Shuai
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引用次数: 6

Abstract

In automatic 3D reconstruction, determining next best view (NBV) is the key problem for continuous automatic view planning. The mass vector chain (MVC) is one of the classical methods, but it can only determine the NBV direction. A visual servo-based approach is proposed in this paper for determining the orientation and direction of NBV. In the proposed approach, the 2-1/2-D visual servoing is used and modified in which MVC method is employed for orientation control and the image-based visual servoing is employed for position control. The MVC method is used in an open-loop, which decreases the dimensionality of the image Jacobian. The experimental results show that the proposed method can guide the robot to the desire views automatically. The final 3D reconstruction surface of an object is basically complete, only with a few tiny blind areas due to too many concave small surface patches of the object.
基于机器人视觉伺服的次优视野确定方法
在自动三维重建中,次优视图的确定是实现连续自动视图规划的关键问题。质量矢量链(MVC)是一种经典的方法,但它只能确定nvb方向。本文提出了一种基于视觉伺服的nvb定位和方向确定方法。该方法采用并改进了2-1/2维视觉伺服,采用MVC方法进行方向控制,采用基于图像的视觉伺服进行位置控制。在开环中采用MVC方法,降低了图像雅可比矩阵的维数。实验结果表明,该方法能够自动引导机器人到达目标视野。物体最终的三维重建表面基本完成,只剩下由于物体表面有太多凹面小块而产生的少量微小盲区。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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