PUBLICATION

Fan Wang and Kris Hauser
In-hand Object Scanning via RGB-D Video Segmentation International Conference on Robotics and Automation (ICRA), 2019.

[BibTeX] [PDF]

The paper proposes a  technique for 3D object scanning via in-hand manipulation, in which an object reoriented in front of a video camera with multiple grasps and regrasps. In-hand object tracking is a significant challenge under fast movement, rapid appearance changes, and occlusions. BackFlow tracks arbitrary in-hand objects more effectively than existing techniques.  Experiments show that our method achieve 6% increase in accuracy compared to top performing video tracking algorithms.

 

The improved tracking accuracy results in noticeably higher quality reconstructed models.  Moreover, testing with a novice user on a set of 200 objects demonstrates relatively rapid construction of complete 3D object models.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Citation

If you use this code, please cite the following:

@article{Wang2019,

   title={In-hand Object Scanning via RGB-D Video Segmentation},

   author={Fan Wang and Kris Hauser},

   journal={2019 IEEE International Conference on Robotics and Automation (ICRA)},

   year={2019}

}

 

Download the code HERE