A Two-Stage Algorithm for Planning the Next View From Range Images

Abstract

A new technique is presented for determining the positions where a range sensor should be located to acquire the surfaces of a complex scene. The algorithm consists of two stages. The first stage applies a voting scheme that considers occlusion edges. Most of the surfaces of the scene are recovered through views computed in that way. Then, the second stage fills up remaining holes through a scheme based on visibility analysis. By leaving the more expensive visibility computations at the end of the exploration process, efficiency is increased. 1 Introduction The automatic reconstruction of 3D objects (scenes in general) through range images is gaining popularity in computer vision and robotics owing to the variety of applications that can benefit from it, including world modeling [2], reverse engineering and object segmentation [3] or recognition. Two basic tasks must be addressed in order to solve that problem. First, an exploration process is necessary for determining the pos...