Octree generation from object silhouettes in perspective views |
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| Affiliation: | 1. Department of Earth and Planetary Science, The University of Tokyo, 7-3-1 Hongo, Bunkyo, Tokyo, 113-0033, Japan;2. Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency, 3-1-1 Yoshinodai, Chuo-ku, Sagamihara, Kanagawa, 252-5210, Japan;3. Planetary Exploration Research Center, Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba, 275-0016, Japan;4. Marine Works Japan Ltd., 3-54-1 Oppama-higashi, Yokosuka, Kanagawa, 237-0063, Japan;1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing, 100081, China;2. Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration, Ministry of Industry and Information Technology, Beijing, 100081, China;3. Key Laboratory of Dynamics and Control of Flight Vehicle, Ministry of Education, Beijing, 100081, China;4. College of Automation & Electronic Engineering, Qingdao University of Science & Technology, Qingdao, 266061, China;1. Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency, Sagamihara 252-5210, Japan;2. Research and Development Directorate, Japan Aerospace Exploration Agency, Sagamihara 252-5210, Japan;3. The University of Tokyo, Tokyo 113-0033, Japan;4. Planetary Exploration Research Center, Chiba Institute of Technology, Narashino 275-0016, Japan;5. Kochi University, Kochi 780-8520, Japan;6. Rikkyo University, Tokyo 171-8501, Japan;7. National Institute of Advanced Industrial Science and Technology, Tokyo 135-0064, Japan;8. The University of Aizu, Aizu-Wakamatsu 965-8580, Japan;9. Kobe University, Kobe 657-8501, Japan;10. Nagoya University, Nagoya 464-8601, Japan |
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| Abstract: | Octrees are useful for object representation when fast access to coarse spatial occupancy information is necessary. This paper presents an efficient algorithm for generating octrees from multiple perspective views of an object. The algorithm first obtains a polygonal approximation of the object silhouette. This polygon is then decomposed into convex components. For each convex component, a pyramid is formed treating the view point as its apex and the convex components as a cross section. The octree representation of each of these pyramids is obtained by performing intersection detection of the object with the cubes corresponding to octree nodes. The intersection detection step is made efficient by decomposing it into a coarse-to-fine sequence of intersection tests. The octree for one silhouette is obtained by taking the union of octrees obtained for each component. An intersection of octrees corresponding to different viewing directions gives the final octree of the object. An implementation of the algorithm is given. The accuracy of the octree representation of the objects is evaluated. The ratio of the actual volume of the object to the volume of the object reconstructed from the octree representation is used as a performance index of the algorithm. |
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