Matching and pose estimation of noisy, partial and planar b-rep models

Abstract

Three dimensional models are represented in various ways. One possibility are boundary representation (B-Rep) models, which contain geometric and topological information. This makes B-Reps suitable for tasks that need an explicit algebraic representation of the surface, e.g. numerical optimization or simulation. Reconstructing a B-Rep model of an object or the environment often is a tedious task needing much manual intervention. An intuitive way is to use a hand-held depth camera and perform a real-time reconstruction. In the domain of robotics, we previously presented a system [18] that is able to incrementally reconstruct a planar B-Rep model from a stream of organized point clouds acquired from a robot mounted camera. Since the acquisition poses are known, this approach can not directly be used in a setup with a hand-held camera.