Autonomous Sensor Planning for 3D Reconstruction of Complex Objects from Range Images

This paper presents a new technique for determining a small set of views that allow the observation and acquisition of the surfaces of the objects present in a target scene through a range sensor that moves over a sphere containing that scene. No a priori knowledge about the shape of those objects is assumed. Instead of applying costly visibility analysis techniques from the beginning as in most previous approaches, a two-stage algorithm is proposed. The first stage is responsible for getting the majority of object surfaces through a voting scheme based on occlusion edges. Then, a second stage applies visibility analysis to fill holes left by the first stage due to self-