Robo-vision! 3D mesh generation of a scene for a robot for planar and non-planar complex objects
Multimedia Tools and Applications(2023)
摘要
This paper presents a novel architecture to generate a world model in terms of mesh from a continuous image stream with depth information extracted from a robot’s ego-vision camera. We propose two algorithms for planar and non-planar mesh generation. A Cartesian grid-based mesh fitting algorithm is proposed for mesh generation of planar objects. For mesh generation of non-planar objects, we propose a Self Organization Map based algorithm. The proposed algorithm better approaches the boundary and overall shape of the objects compared to State-Of-the-Art (SOA). Extensive experiments done on three public datasets show that our method surpasses SOA both qualitatively and quantitatively.
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关键词
Computer vision,Robot vision,Telepresence,3D vision,Reconstruction,Graphics,Cognitive vision
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