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DTSTAMP:20240214T070241Z
LOCATION:Darling Harbour Theatre\, Level 2 (Convention Centre)
DTSTART;TZID=Australia/Melbourne:20231212T093000
DTEND;TZID=Australia/Melbourne:20231212T124500
UID:siggraphasia_SIGGRAPH Asia 2023_sess209_papers_256@linklings.com
SUMMARY:Interaction-Driven Active 3D Reconstruction with Object Interiors
DESCRIPTION:Technical Papers\n\nZihao Yan, Fubao Su, Mingyang Wang, and Ru
 izhen Hu (Shenzhen University); Hao Zhang (Simon Fraser University); and H
 ui Huang (Shenzhen University)\n\nWe introduce an active 3D reconstruction
  method, which integrates visual perception, robot-object interaction, and
  3D scanning to recover both the exterior and interior geometries of a tar
 get 3D object. Unlike other works in active vision which focus on optimizi
 ng camera viewpoints to better investigate the environment, the primary fe
 ature of our reconstruction is an analysis of the interactability of vario
 us parts of the target object and the ensuing part manipulation by a robot
  to enable scanning of occluded regions. As a result, an understanding of 
 part articulations of the target object is obtained on top of complete geo
 metry acquisition. Our method operates fully automatically by a Fetch robo
 t with built-in RGBD sensors. It iterates between interaction analysis and
  interaction-driven reconstruction, scanning and reconstructing detected m
 oveable parts one at a time, where both the articulated part detection and
  mesh reconstruction are carried out by neural networks. In the final step
 , all the remaining, non-articulated parts, including all the interior str
 uctures that had been exposed by prior part manipulations and subsequently
  scanned, are reconstructed to complete the acquisition. We demonstrate th
 e performance of our active reconstruction method via qualitative and quan
 titative evaluation, ablation studies, comparisons to alternatives, as wel
 l as experiments in a real environment.\n\nRegistration Category: Full Acc
 ess, Enhanced Access, Trade Exhibitor, Experience Hall Exhibitor
URL:https://asia.siggraph.org/2023/full-program?id=papers_256&sess=sess209
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