Quality-driven Poisson-guided Autoscanning

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WU, Shihao, Wei SUN, Pinxin LONG, Hui HUANG, Daniel COHEN-OR, Minglun GONG, Oliver DEUSSEN, Baoquan CHEN, 2014. Quality-driven Poisson-guided Autoscanning. In: ACM Transactions on Graphics. 33(6), 203. ISSN 0730-0301. eISSN 1557-7368. Available under: doi: 10.1145/2661229.2661242

@article{Wu2014Quali-29847, title={Quality-driven Poisson-guided Autoscanning}, year={2014}, doi={10.1145/2661229.2661242}, number={6}, volume={33}, issn={0730-0301}, journal={ACM Transactions on Graphics}, author={Wu, Shihao and Sun, Wei and Long, Pinxin and Huang, Hui and Cohen-Or, Daniel and Gong, Minglun and Deussen, Oliver and Chen, Baoquan}, note={Proceedings of ACM SIGGRAPH Asia 2014, Shenzhen, China Article Number: 203} }

Sun, Wei 2015-02-18T09:08:09Z Wu, Shihao Chen, Baoquan Huang, Hui eng Long, Pinxin Huang, Hui Cohen-Or, Daniel We present a quality-driven, Poisson-guided autonomous scanning method. Unlike previous scan planning techniques, we do not aim to minimize the number of scans needed to cover the object’s surface, but rather to ensure the high quality scanning of the model. This goal is achieved by placing the scanner at strategically selected<br />Next-Best-Views (NBVs) to ensure progressively capturing the geometric details of the object, until both completeness and high fidelity are reached. The technique is based on the analysis of a Poisson field and its geometric relation with an input scan. We<br />generate a confidence map that reflects the quality/fidelity of the estimated Poisson iso-surface. The confidence map guides the generation of a viewing vector field, which is then used for computing a set of NBVs. We applied the algorithm on two different robotic platforms, a PR2 mobile robot and a one-arm industry robot. We demonstrated the advantages of our method through a number of autonomous high quality scannings of complex physical objects, as well as performance comparisons against state-of-the-art methods. Quality-driven Poisson-guided Autoscanning Deussen, Oliver Long, Pinxin Deussen, Oliver Chen, Baoquan Sun, Wei Wu, Shihao 2015-02-18T09:08:09Z terms-of-use Cohen-Or, Daniel Gong, Minglun Gong, Minglun 2014

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