An active reconstruction algorithm based on partial prior information

Yanzi Kong,Haibo Sun,Yilin Xie,Feng Zhu,Zhiyuan Lin,Yingming Hao

doi:10.1177/1729881420904203

Abstract

Active reconstruction is an intelligent perception method that achieves object modeling with few views and short motion paths by systematically adjusting the parameters of the camera while ensuring model integrity. Part of the object information is always known for vision tasks in real scenes, and it provides some guidance for the view planning. A two-step active reconstruction algorithm based on partial prior information is presented, which includes rough shape estimation phase and complete object reconstruction phase, and both of them introduce the concept of active vision. An information expression method is proposed that can be used to manually initialize the repository according to specific visual tasks, and then the prior information and detected information are used to plan the next best view online until the object reconstruction is completed. The method is evaluated with simulated experiments and the result is compared with other methods.

Highlights

Geometric modeling of object is one of the important research areas in the field of robot vision
A two-step active object reconstruction method based on the partial prior information of the object is proposed, where the object has relatively regular shape but its specific characteristics are unknown
An inference engine based on the prior knowledge library was proposed, which will not be affected by the specific content of the prior knowledge library

Summary

Introduction

Geometric modeling of object is one of the important research areas in the field of robot vision. Robot motion is passive, and the motion path is set artificially in advance by humans or controlled in real time.[4] a multi-viewpoint modeling is implemented using a motion mechanism with a specific motion function.[5,6] To accomplish the vision task with fewer views and shorter motion paths, the concept of active object reconstruction is introduced. It means a reconstruction process in which the best view (NBV) is planned actively to achieve the above optimization targets

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Methods

Conclusion