Object Modelling with a Handheld RGB-D Camera
| Autor: | Aldoma, Aitor, Prankl, Johann, Svejda, Alexander, Vincze, Markus |
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| Rok vydání: | 2015 |
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| Druh dokumentu: | Working Paper |
| Popis: | This work presents a flexible system to reconstruct 3D models of objects captured with an RGB-D sensor. A major advantage of the method is that our reconstruction pipeline allows the user to acquire a full 3D model of the object. This is achieved by acquiring several partial 3D models in different sessions that are automatically merged together to reconstruct a full model. In addition, the 3D models acquired by our system can be directly used by state-of-the-art object instance recognition and object tracking modules, providing object-perception capabilities for different applications, such as human-object interaction analysis or robot grasping. The system does not impose constraints in the appearance of objects (textured, untextured) nor in the modelling setup (moving camera with static object or a turn-table setup). The proposed reconstruction system has been used to model a large number of objects resulting in metrically accurate and visually appealing 3D models. Comment: Presented at OAGM Workshop, 2015 (arXiv:1505.01065) |
| Databáze: | arXiv |
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