3D model creation through volumetric fusion of multiple range images

David Elsner; Ross T. Whitaker; Mongi A. Abidi

doi:10.1117/12.287645

22 September 1997 3D model creation through volumetric fusion of multiple range images

David Elsner, Ross T. Whitaker, Mongi A. Abidi

Proceedings Volume 3209, Sensor Fusion and Decentralized Control in Autonomous Robotic Systems; (1997) https://doi.org/10.1117/12.287645
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States

Abstract

This paper presents a method to fuse multiple noisy range images to obtain a 3-D model of an object. This method projects each range image onto a volumetric grid that is divided into volume elements (voxels). We place a value in each voxel that represents our degree of certainty that that voxel is inside the sensed object. We determine this value by constructing a line from the voxel to the sensor's location and calculating the point that it intersects the range image. The certainty value is determined from the distance from the voxel to the range image intersection point and an estimate of the sensor's noise characteristics. The super Bayesian combination formula is used to fuse the grids created from the individual range images into an overall volumetric grid. We obtain the object model by extracting an isosurface at the value of 1/2 from the volumetric data using a variation of the marching cubes algorithm.

Citation Download Citation

David Elsner, Ross T. Whitaker, and Mongi A. Abidi "3D model creation through volumetric fusion of multiple range images", Proc. SPIE 3209, Sensor Fusion and Decentralized Control in Autonomous Robotic Systems, (22 September 1997); https://doi.org/10.1117/12.287645

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available