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Geometric Model Construction from Sensor Data

Authors: [tex2html_wrap4152]S. Aubry, V. Hayward

Investigator username: hayward

Category: perception

Subcategory: computer vision

We consider the problem of aggregating the geometrical information provided by sensors such as rangefinders and its applications to scene modelling. This information consists of collections of three-dimensional surface points that form a discrete subspace of the objects-to-free-space boundaries within the world to be modelled. We introduce a graph-theoretic definition for model validity which we use to guide the process of aggregating the different views. We propose a global algorithm based on the concept convex layers in computational geometry. The decision process relies solely on geometrical intersection predicates between lines and faces. Physically, the lines correspond to lines of sight of the sensor, and faces to approximations of the hull of the observed object. Please see Figures 4a-d