Model-based view planning

This paper presents a multi-phase, model-based approach to view planning for automated, high fidelity object inspection or reconstruction by means of laser scanning range sensors. We describe the critical phase, fine modeling, in detail. Quality objectives and performance measures are defined. Camera and positioning system 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 and pose errors. The technique is generalizable for common range cameras and positioning systems.