Next: 1 Introduction
Segmentation of Range Data into Rigid Subsets using Planar Surface Patches
A. P. Ashbrook, R. B. Fisher, C. Robertson and N. Wergi
Department of Artificial Intelligence
The University of Edinburgh
5, Forrest Hill, Edinburgh, EH1 2QL
anthonya@dai.ed.ac.uk
Abstract:
In this paper we consider one issue of the problem of automatically constructing
geometric models of articulated objects from multiple range images. Automatic model construction has been investigated for
rigid objects, but the techniques used do not extend easily to the articulated
case. The problem arises because of the need to register surface
measurements taken from different viewpoints into a common reference
frame. Registration algorithms generally assume that an object does not change shape
from one view to the next, but when building a model of an articulated object, it is
necessary for the modes of articulation to be present in the example
data. To avoid this problem we propose that raw surface data of
articulated objects is first segmented into rigid subsets,
corresponding to rigid subcomponents of the object. This allows a model
of each subcomponent to be constructed using the conventional approach
and a final, articulated model to be constructed by assembling each of
the subcomponent models. We describe an algorithm developed to
segment range data into rigid subsets based on surface patch
correspondences and present some results.
Next: 1 Introduction
Anthony Ashbrook
Fri Jul 11 10:33:28 BST 1997