Inference-Based Surface Reconstruction of Cluttered Environments Academic Article uri icon

abstract

  • We present an inference-based surface reconstruction algorithm that is capable of identifying objects of interest among a cluttered scene, and reconstructing solid model representations even in the presence of occluded surfaces. Our proposed approach incorporates a predictive modeling framework that uses a set of user-provided models for prior knowledge, and applies this knowledge to the iterative identification and construction process. Our approach uses a local to global construction process guided by rules for fitting high-quality surface patches obtained from these prior models. We demonstrate the application of this algorithm on several example data sets containing heavy clutter and occlusion.

author list (cited authors)

  • Biggers, K., & Keyser, J.

citation count

  • 0

publication date

  • August 2012