3D reconstruction of environment and weld workpiece can provide geometrical model for telerobotic welding and improve its intelligence. A novel framework of spacetime stereo is employed to overcome the lack of texture...3D reconstruction of environment and weld workpiece can provide geometrical model for telerobotic welding and improve its intelligence. A novel framework of spacetime stereo is employed to overcome the lack of texture of the weld workpiece and obtain subpixel disparity map of the scene. Anisotropic diffusion is adopted to smooth the original subpixel disparity map in order to reduce the noise while preserving the depth discontinuity. A simple algorithm of generation triangle mesh surface from the disparity map of the spucetime stereo is presented. The experimental results of real weld scenes are shown.展开更多
We present some new methods for parameterizing the triangle mesh surface （TMS） which result from the Marching Cubes （MC） algorithm. The methods apply to surfaces of genus zero and the parameter domain is a unit sp...We present some new methods for parameterizing the triangle mesh surface （TMS） which result from the Marching Cubes （MC） algorithm. The methods apply to surfaces of genus zero and the parameter domain is a unit sphere. We take advantage of some special properties of the TMS resulting from the MC algorithm to obtain simple, computational efficient representations of the nearest neighbor coordinates and utilize these coordinates in the characterization of the parameterization by means of systems of equations which are solved iteratively. Examples and comparisons are presented.展开更多
文摘3D reconstruction of environment and weld workpiece can provide geometrical model for telerobotic welding and improve its intelligence. A novel framework of spacetime stereo is employed to overcome the lack of texture of the weld workpiece and obtain subpixel disparity map of the scene. Anisotropic diffusion is adopted to smooth the original subpixel disparity map in order to reduce the noise while preserving the depth discontinuity. A simple algorithm of generation triangle mesh surface from the disparity map of the spucetime stereo is presented. The experimental results of real weld scenes are shown.
基金supported by the US Army Research Office under contract W911NF-05-1-0301the US National Science Foundation.
文摘We present some new methods for parameterizing the triangle mesh surface （TMS） which result from the Marching Cubes （MC） algorithm. The methods apply to surfaces of genus zero and the parameter domain is a unit sphere. We take advantage of some special properties of the TMS resulting from the MC algorithm to obtain simple, computational efficient representations of the nearest neighbor coordinates and utilize these coordinates in the characterization of the parameterization by means of systems of equations which are solved iteratively. Examples and comparisons are presented.
