A Robotic System for Autonomous 3-D Surface Reconstruction of Objects

SEÇİL S., TURGUT K., Soyleyici C., ÖZKAN M., PARLAKTUNA O., DUTAĞACI H., ...Daha Fazla

3rd IEEE International Conference on Control, Automation and Robotics (ICCAR), Nagoya, Japonya, 22 - 24 Nisan 2017, ss.188-191 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası:
  • Doi Numarası: 10.1109/iccar.2017.7942684
  • Basıldığı Şehir: Nagoya
  • Basıldığı Ülke: Japonya
  • Sayfa Sayıları: ss.188-191
  • Anahtar Kelimeler: industrial robots, 3D reconstruction, software architecture, point clouds
  • Eskişehir Osmangazi Üniversitesi Adresli: Evet

Özet

This paper presents a robotic system to be utilized for autonomous 3-D surface reconstruction of objects. 3-D object reconstruction is performed by taking surface point cloud of an object from different views. The point cloud is obtained by profile or field range sensors with the limited field of view. Thus, the problem is defined as the determination of next best view for the sensor. In an autonomous 3-D reconstruction system, the sensor positioning is performed by a robot manipulator. We propose the hardware and software architectures for the robotic system that enables autonomous 3-D object reconstruction. The efficiency of the system is shown for a few sample objects.