3D tree reconstruction from laser range data

J. Binney, G.S. Sukhatme
2009 2009 IEEE International Conference on Robotics and Automation  
We present a method for reconstructing 3D models of tree branch structure from laser range data. Our approach is probabilistic, and uses a generative model of a tree to guide an iterative reconstruction process. Our goal is to recover parameters such as branch locations, angles, radii, and lengths, as well as connectivity information between branches. These parameters can then be fed into functional-structural plant models to study the relationships between the structure of a plant, its
more » ... ent, and its internal biology. In this paper we present an algorithm for finding these parameters, and results on both simulated and real datasets. Jonathan Binney (binney@usc.edu) and Gaurav S. Sukhatme (gau-rav@usc.edu) are with the Robotic
doi:10.1109/robot.2009.5152684 dblp:conf/icra/BinneyS09 fatcat:rqgrazs6izddha3hapwlly23iy