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An active reconstruction algorithm based on partial prior information
Kong YZ(孔研自)1,2,3,4,5; Zhu F(朱枫)1,2,4,5; Hao YM(郝颖明)1,2,4,5; Sun HB(孙海波)1,6; Xie YL(谢一琳)1,2,3,4,5; Lin ZY(林智远)1,2,3,4,5
Department光电信息技术研究室
Corresponding AuthorZhu, Feng(fzhu@sia.cn)
Source PublicationInternational Journal of Advanced Robotic Systems
ISSN1729-8806
2020
Volume17Issue:1Pages:1-8
Indexed BySCI ; EI
EI Accession number20200808198700
WOS IDWOS:000514707600001
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China under grant no. U1713216
KeywordActive reconstruction information gain partial prior knowledge rough shape estimation view planning
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.

Language英语
WOS SubjectRobotics
WOS KeywordIMAGE SEGMENTATION ; OBJECT ; FRAMEWORK ; VISION
WOS Research AreaRobotics
Funding ProjectNational Natural Science Foundation of China[U1713216]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/26306
Collection光电信息技术研究室
Corresponding AuthorZhu F(朱枫)
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
3.University of Chinese Academy of Sciences, Beijing, China
4.Key Laboratory of Opto-Electronic Information Process, Shenyang, China
5.The Key Laboratory of Image Understanding and Computer Vision, Shenyang, China
6.Northeastern University, Shenyang, China
Recommended Citation
GB/T 7714
Kong YZ,Zhu F,Hao YM,et al. An active reconstruction algorithm based on partial prior information[J]. International Journal of Advanced Robotic Systems,2020,17(1):1-8.
APA Kong YZ,Zhu F,Hao YM,Sun HB,Xie YL,&Lin ZY.(2020).An active reconstruction algorithm based on partial prior information.International Journal of Advanced Robotic Systems,17(1),1-8.
MLA Kong YZ,et al."An active reconstruction algorithm based on partial prior information".International Journal of Advanced Robotic Systems 17.1(2020):1-8.
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