Monte Carlo Registration and Its Application with Autonomous Robots

Figure 16

Zeus bust, bunny, and wooden chevron object (from left to right): the test objects (a) with corresponding template models (b) used for the experiments and surface models (c) acquired during autonomous object modeling (see Section 8.3.5). Colors in the template model describe the different feature classes: light/dark red occur in convex regions, blue/purple in concave regions (plane regions are removed).

(a) The test objects

(b) The template models

(c) The autonomously acquired surface models