User Guidance and Automatic Completion for Generating Planar B-Rep Models

Titelangaben

Rohner, Dorian ; Sand, Maximilian ; Henrich, Dominik:
User Guidance and Automatic Completion for Generating Planar B-Rep Models.
In: Schüppstuhl, Thorsten ; Tracht, Kirsten ; Henrich, Dominik (Hrsg.): Annals of Scientific Society for Assembly, Handling and Industrial Robotics. - Berlin : Springer Vieweg , 2020 . - S. 33-43
ISBN 978-3-662-61755-7
DOI: https://doi.org/10.1007/978-3-662-61755-7_4

Angaben zu Projekten

Abstract

A representation of the world as a 3D model is a common necessity in robotics and automation. In previous work, we developed a concept to generate boundary representation (B-Rep) models from multiple point clouds using a hand-held depth-camera and to register them without a prior known pose. During the online reconstruction, properties of the sensor and the system (like noise) lead to small holes in the B-Rep. To prevent tedious post-processing, holes should be closed during the reconstruction. Our goal is to automatically close identified holes. However, not every hole can be closed automatically, as it may be unreasonable. For this case we develop a visual indication for the user, so he can close the hole by recording another depth image. In an experimental validation, we conclude the usefulness of the addition to the system.