INCREMENTAL MODEL-BUILDING OF POLYHEDRAL OBJECTS USING STRUCTURED LIGHT

Abstract

A vision method using active sensing to construct the complete geometric model of a polyhedral object is presented. The model is constructed incrementally from multiple views. Each view produces a partial object model. Three different methods are described for integrating all the partial models into a final complete model. Theorems regarding the sufficient number of views required and how these views can be set up during the reconstruction process are also given. From theoretical analysis and experimental results, our method is shown to produce an accurate object geometric model, not just an approximate model. Furthermore, it does not rely on a precise object-to-image space transformation. Moreover, the method is fast and robust, since the basic geometric entity it derives is a face instead of a point.