Model-based reconstruction of featureless objects for automated storage and transportation systems

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...

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Bibliographic Details
Published in:Journal of intelligent manufacturing 2008-04, Vol.19 (2), p.149-159
Main Authors: Sun, Yung-Nien, Wu, Chia-Hsiang, Chen, Zong-Sheng, Tsai, Song-Jau
Format: Article
Language:English
Subjects:
Automation
Business and Management
Control
Intelligent systems
Lasers
Machines
Manufacturing
Mathematical models
Mechatronics
Operations research
Optimization
Processes
Production
Robotics
Sensors
Studies
Three dimensional imaging
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Summary: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.
ISSN:0956-5515
1572-8145
DOI:10.1007/s10845-008-0070-z