Autonomous Generation of Complete 3D Object Models Using Next
Best View Manipulation Planning
Proc. of International Conference on Robotics and Automation (ICRA), 2011
Abstract
Recognizing and manipulating objects is an important
task for mobile robots performing useful services in
everyday environments. In this paper, we develop a system that
enables a robot to grasp an object and to move it in front
of its depth camera so as to build a 3D surface model of the
object. We derive an information gain based variant of the next
best view algorithm in order to determine how the manipulator
should move the object in front of the camera. By considering
occlusions caused by the robot manipulator, our technique also
determines when and how the robot should re-grasp the object
in order to build a complete model.