초록 ▼

The "next best view" (NBV) problem encountered while acquiring the surface geometry of an object using a range scanner is solved by determining the next position for the range scanner given its previous scans of the object. A new representation, positional space, is used as a unified data structure

The "next best view" (NBV) problem encountered while acquiring the surface geometry of an object using a range scanner is solved by determining the next position for the range scanner given its previous scans of the object. A new representation, positional space, is used as a unified data structure for representing what must be and what can be scanned. The image of the range scanner in positional space is computed off-line for particular positions of the range scanner in its work space and stored in a file. Then, when the next best view is to be determined during the analysis of the object, each scanner image is simply retrieved from the file instead of being recreated by translating the scanner image calculated for some other position on the work space of the range scanner. A linear objective function of the stored scanner images and images of a seen and an unseen surface of the object is then maximized over all scanner positions to determine the next best view. This approach accommodates all range based sensors and allows arbitrarily shaped positional space surfaces and work spaces to be used while also saving in on-line computation time.

대표청구항 ▼

[ What is claimed is:] [1.] A method of acquiring a three-dimensional surface image of an object using a range camera, comprising the steps of:storing in a memory positional space representations of ranging rays generated by a range camera for each camera position in a work space of said range camer

[ What is claimed is:] [1.] A method of acquiring a three-dimensional surface image of an object using a range camera, comprising the steps of:storing in a memory positional space representations of ranging rays generated by a range camera for each camera position in a work space of said range camera at which said range camera may be positioned to scan said object;scanning the object with the range camera to create a partial surface image of the object including a seen surface and an unseen surface;determining the next best view position for viewing said unseen surface of the object from a number of possible positions, orientations, and sampling parameters of said range camera by comparing said positional space representations of said ranging rays from certain camera positions stored in said memory with observation rays from seen and unseen surfaces of said object; andscanning the object with the range camera at the determined next best view position and updating said partial surface image to include the image data acquired at the determined next best view position.