Exploration of local surface geometry with minimum number of contact points and surface normal information

Autor:	Min Jeong Kim, Hyouk Ryeol Choi, Ja Choon Koo, Hyungpil Moon, Tri Cong Phung
Rok vydání:	2012
Předmět:	Surface (mathematics) Mean curvature Center of curvature Geometry Curvature Umbilical point Computer Science Applications symbols.namesake Control and Systems Engineering Principal curvature Gaussian curvature symbols Normal Mathematics
Zdroj:	International Journal of Control, Automation and Systems. 10:383-395
ISSN:	2005-4092 1598-6446
DOI:	10.1007/s12555-012-0218-7
Popis:	In this paper, we propose a method of exploring the surface geometry of an unknown object by touch. The method is based on the idea that a three-dimensional surface geometry can be reconstructed from two principal curvatures of the object which are estimated from three concurrent curves. First, the process to minimize the number of contact points is addressed for the approximation of an arbitrary curve, which uses normal vectors at the contact points. Then, an algorithm for reconstructing a three-dimensional local surface from four contact points, two of which can be used to compute a normal curvature, is presented. Lastly, our method is applied to cylindrical, spherical and planar objects in simulation and experiments for validation.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::6a68be2ebdba8c387b8b7be3a2451984 https://doi.org/10.1007/s12555-012-0218-7 Zobrazit plný text záznamu Full text from SpringerLink