准确的3D获取自由移动的物体

F. Blais, M. Picard, G. Godin
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引用次数: 40

摘要

本文提出了一种新的三维激光扫描仪采集方法,该方法结合了成像、快速几何目标跟踪和自动姿态估计来注册自由运动目标的距离轮廓。该方法是为了解决自由运动物体与三维扫描仪之间的刚性约束,同时保持距离测量的精度。刚性约束要求3D扫描仪或任何外部定位设备在扫描过程中必须相对于物体完全稳定。这对于使用脚手架、工业输送机或机械臂等移动结构通常是不可能的。该方法首先从稀疏范围数据的初始子集创建对象模型的粗略、部分和失真估计。然后,通过添加新的距离信息,递归地改进和细化模型。同时,对物体进行实时跟踪,使扫描在物体上居中。获得了一个高分辨率、精确的自由漂浮物三维模型,并对其位置进行了实时跟踪。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Accurate 3D acquisition of freely moving objects
This work presents a new acquisition method for 3D laser scanners that combines imaging, fast geometrical object tracking, and automatic pose estimation to register range profiles of freely moving objects. The method was developed to solve the constraint of rigidity between free-moving objects and a 3D scanner while preserving the accuracy of the range measurements. Rigidity constraint imposes that a 3D scanner or any external positioning devices must be perfectly stable relative to the object during scanning. This is often impossible for moving structures such as when using scaffolding, industrial conveyers, or robotic arms. The method starts by creating a rough, partial, and distorted estimate of the model of the object from an initial subset of sparse range data. Then, it recursively improves and refines the model by adding new range information. In parallel, real-time tracking of the object is performed to center the scan on the object. A high-resolution and accurate 3D model of a free-floating object, and real-time tracking of its position is obtained.
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