Understanding Spatial Structure from Wireframe Model Using Motion Stereo.

Abstract

This paper presents an approcah for understanding a spatial structure from a wireframe model which have been constructed by a mobile robot with stereo system. We discover the object surface using relations of line connection and the basic geometrical knowledge of the 3-D world. The method can also infer unobtained lines, thus the occuluded surfaces can be alsoreconstructed.