Interactive approach to reconstruction of solids from range images

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Abstract
This work outlines an interactive approach to reconstruction of solid models from range images. It is to be integrated into a telerobotic system in order to dynamically create a coarse geometric world model suitable to support path planning and grasp planning tasks in a telerobotic environment. A solid is modelled by a collection of parametric surfaces known as superquadrics. Each superquadric model approximates the shape of one part of a solid object. Interactive techniques are discussed that allow the user to recover model parameters for multiple objects in a scene. A graph data structure called em scene graph is used for integrated storage of image data and knowledge supplied by the operator. After evaluation of the scene graph, model parameters are recovered by minimizing an error measure based on the distance between the range points and the corresponding locations on the model's surface. The Levenberg-Marquardt method is used to always ensure convergence of the solution. We implemented the minimization algorithm in parallel on a transputer network.

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