Rapid hidden feature elimination using an octree

Abstract

A hidden feature elimination algorithm based on ray tracing through an octree is presented. The algorithm has been used in a model-based vision system for a robot which services numerically controlled machine tools in an automated factory. It determines which features of an object are visible from a given camera location. This prediction is used by the model-based vision system to keep the 3-D world model as close as possible to reality. Finally the effect of the resolution limitations of the octree on the algorithm is discussed.