| Abstract | This paper presents a model-based view planning approach for automated object reconstruction or inspection using laser scanning range sensors. Quality objectives and performance measures are defined. Camera and positioning systems performance is modeled statistically. A theoretical framework is presented. The method is applicable to a broad class of objects with reasonable geometry and reflectance properties. Sampling of object surface and viewpoint space is characterized, including measurement noise and poses error effects. The technique is generalizable for common range camera and positioning system designs. |
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