English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

We introduce an active 3D reconstruction method which integrates visualperception, robot-object interaction, and 3D scanning to recover both theexterior and interior, i.e., unexposed, geometries of a target 3D object.Unlike other works in active vision which focus on optimizing camera viewpointsto better investigate the environment, the primary feature of ourreconstruction is an analysis of the interactability of various parts of thetarget object and the ensuing part manipulation by a robot to enable scanningof occluded regions. As a result, an understanding of part articulations of thetarget object is obtained on top of complete geometry acquisition. Our methodoperates fully automatically by a Fetch robot with built-in RGBD sensors. Ititerates between interaction analysis and interaction-driven reconstruction,scanning and reconstructing detected moveable parts one at a time, where boththe articulated part detection and mesh reconstruction are carried out byneural networks. In the final step, all the remaining, non-articulated parts,including all the interior structures that had been exposed by prior partmanipulations and subsequently scanned, are reconstructed to complete theacquisition. We demonstrate the performance of our method via qualitative andquantitative evaluation, ablation studies, comparisons to alternatives, as wellas experiments in a real environment.

Interaction-Driven Active 3D Reconstruction with Object Interiors