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Modélisation d'objets 3D par construction incrémentale d'un maillage triangulaire, dans un contexte robotique

Abstract : This work treats the modelisation of 3D objects and environments from sensor data given by laser or stereo useful in . The modelisation process has several parts, that have been studied. To begin with, the acquired views of the object taken from different points are registered using the known "iteration closest point", ICP, method, which has been adapted to specific needs and can use extracted information of the image like edge, surface or subsampling in order to reduce calculation time. This process can be applied incrementally or by pairs. The following step is the data fusion of the resulting registered images executed incrementally or at the end of the registration process. The chosen method was based on the "ball pivoting algorithm", that has the features to mesh irregular points, to extract planes simultaneously and to recycle existing mesh structures. In addition we have studied also the problem that arises in the sensor position for the view acquisition, better known as "next-best-view", in order to optimise the views needed to describe an object and reduce the convergence problems in the registration process. Finally we arrive to a set of tools to create a geometric model from an acquired object of the real world.
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https://tel.archives-ouvertes.fr/tel-00009525
Contributor : Emilie Marchand <>
Submitted on : Friday, June 17, 2005 - 3:31:32 PM
Last modification on : Friday, January 10, 2020 - 9:08:09 PM
Long-term archiving on: : Friday, April 2, 2010 - 10:28:30 PM

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  • HAL Id : tel-00009525, version 1

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Juan Andres Restrepo Specht. Modélisation d'objets 3D par construction incrémentale d'un maillage triangulaire, dans un contexte robotique. Automatique / Robotique. Université Paul Sabatier - Toulouse III, 2005. Français. ⟨tel-00009525⟩

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