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Creating models of real objects is a complex task for which the use of traditional modeling techniques has proven to be difficult. To solve some of these problems, laser rangefinders are frequently used to sample an object's surface from several viewpoints resulting in a set of range images that are registered and integrated into a final triangulated model.(More)
The use of laser range sensor allows very significant improvement in acquisition speed but does not equal the accuracy obtained with a coordinate measuring machine. In order to obtain a quality control close to that obtained in metrology, we suggest to improve the accuracy of the depth measurements by positioning the sensor's head according to a strategy(More)
We consider the problem of computing accurate point-to-point correspondences among a set of human face scans with varying expressions. Our fully automatic approach does not require any manually placed markers on the scan. Instead, the approach learns the locations of a set of landmarks present in a database and uses this knowledge to automatically predict(More)
In this paper we present a voice command and mouth gesture based robot command interface which is capable of controlling three degrees of freedom. The gesture set was designed in order to avoid head rotation and translation, and thus relying solely in mouth movements. Mouth segmentation is performed by using the normalized a* component, as in [1]. The(More)
Creating models of real objects is a complex task for which the use of traditional modeling techniques has proven to be difficult. To solve some of the problem encountered, laser rangefinders are frequently used to sample an object´s surface from several viewpoints resulting in a set of range images that are registered and integrated into a final(More)
The use of a laser range sensor in the 3D digital-ization process allows significant improvement in acquisition speed and in 3D measurement point density. However, if we want to use these 3D data in applications that require data with a high degree of accuracy like inspection tasks, it is mandatory that the 3D points be acquired under the best conditions of(More)
In this work, the behavior of six curvature-based shape descriptors k<inf>1</inf>, k<inf>2</inf>, Mean, Gaussian, Shape Index, and Curvedness computed at different locations of the face surface was evaluated over synthetic face models and 3D face range images data sets in order to establish the one that offers better discriminancy in different cases. A set(More)
This paper describe a new algorithm to segment range images into continuous regions represented by Bezier polynomials. The main problem in many segmentation algorithms is that it is hard to accurately detect at the same time large continuous regions and their boundary location. In this paper, a Bayesian framework is used to determine through a region(More)