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Assessment of next-best-view algorithms performance with various 3D scanners and manipulator.pdf
ISPRS Journal of Photogrammetry and Remote Sensing 119 (2016) 320–333
Contents lists available at ScienceDirect
ISPRS Journal of Photogrammetry and Remote Sensing
journal homepage: /locate/isprsjprs
Review Article
Assessment of next-best-view algorithms performance with various 3D scanners and manipulator
M. Karaszewski ?, M. Adamczyk, R. Sitnik
Warsaw University of Technology, Department of Mechatronics, Sw. Andrzeja Boboli 8, 02-525 Warsaw, Poland
article info
Article history: Received 9 February 2016 Received in revised form 16 June 2016 Accepted 17 June 2016 Available online 9 July 2016
Keywords: Next-best view 3D digitization High-resolution 3D measurement Automated digitization
abstract
The problem of calculating three dimensional (3D) sensor position (and orientation) during the digitization of real-world objects (called next best view planning or NBV) has been an active topic of research for over 20 years. While many solutions have been developed, it is hard to compare their quality based only on the exemplary results presented in papers. We implemented 13 of the most popular NBV algorithms and evaluated their performance by digitizing ?ve objects of various properties, using three measurement heads with different working volumes mounted on a 6-axis robot with a rotating table for placing objects. The results obtained for the 13 algorithms were then compared based on four criteria: the number of directional measurements, digitization time, total positioning distance, and surface coverage required to digitize test objects with available measurement heads. ó 2016 International Society for Photogrammetry and Remote Sensing, Inc. (ISPRS). Published by Elsevier
B.V. All rights reserved.
1. Introduction
During the last 20 years, much research has been devoted to the problem of automatic three-dimensional (3D) measurement of real-world objects. Regardless of the 3D imaging device used, almost all objects require at least a few directional measurements (i.e., measur
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