An active reconstruction algorithm based on partial prior information. (13th February 2020)

• Record Type: Journal Article
• Authors: Kong, Yanzi; Zhu, Feng; Hao, Yingming; Sun, Haibo; Xie, Yilin; Lin, Zhiyuan
• Is Part Of: International journal of advanced robotic systems. Volume 17:Number 1(2020:Jan./Feb.)
• Publication Date: 2020-02-13
• Subjects: Active reconstruction -- information gain -- partial prior knowledge -- rough shape estimation -- view planning; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881420904203
• Languages: English
• ISSNs: 1729-8806

Abstract

Active reconstruction is an intelligent perception method that achieves object modeling with few views and short motion paths by systematically adjusting the parameters of the camera while ensuring model integrity. Part of the object information is always known for vision tasks in real scenes, and it provides some guidance for the view planning. A two-step active reconstruction algorithm based on partial prior information is presented, which includes rough shape estimation phase and complete object reconstruction phase, and both of them introduce the concept of active vision. An information expression method is proposed that can be used to manually initialize the repository according to specific visual tasks, and then the prior information and detected information are used to plan the next best view online until the object reconstruction is completed. The method is evaluated with simulated experiments and the result is compared with other methods.