Multi-view Reconstruction of Unknown Objects within a Known Environment
Multi-view Reconstruction of Unknown Objects within a Known Environment
复制标题
已知环境中未知物体的多视图重建
DOI：
10.1007/978-3-642-10331-5_73
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发表时间：
2009
期刊：
影响因子：
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通讯作者：
Henrich D.
中科院分区：
文献类型：
--
作者：
Kuhn St;Henrich D.
我们提出了一种通用的基于视觉的方法，用于在通常有遮挡的已知环境(例如桌子、架子、机器人)中重建多个未知对象(例如人类)。必须明确考虑这些遮挡，因为部分未知对象可能隐藏在某些甚至所有相机视图中。为了避免杂乱的重建，真实性检查被用来消除实际上不包含任何未知对象的重建伪影。一种应用是安全的人/机器人共存和合作的监督/监视系统。给出了基于体素实现的实验结果。
We present a general vision-based method for reconstructing multiple unknown objects (e.g. humans) within a known environment (e.g. tables, racks, robots) which usually has occlusions. These occlusions have to be explicitly considered since parts of the unknown objects might be hidden in some or even all camera views. In order to avoid cluttered reconstructions, plausibility checks are used to eliminate reconstruction artifacts which actually do not contain any unknown object. One application is a supervision/surveillance system for safe human/robot-coexistence and –cooperation. Experiments for a voxel-based implementation are given.