Institute for
Robotics and Process Control

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The reconstruction of three-dimensional fragmented objects (3d-puzzle-problem) is a highly relevant task with many applications. The field of application comprises e.g. archaeology, surgery, bioinformatics, computer graphics and robotics. Examples are the reconstruction of broken archaeological artefacts, human bone fracture reduction in surgery, protein-docking, registration of surfaces, and the assemblage of industrial components.

This project considers the whole processing chain, starting from data acquisition with different sensors, the general registration of surfaces, up to special requirements for matching fragments in different applications. In this context, novel and efficient pairwise matching approaches have been developed, which are highly robust against measurement inaccuracies, material deterioration and noise. In their basic configuration, both methods search for a relative pose, where the surface contact between all fragments is as high as possible.

Furthermore, a priori knowledge of the broken objects (like shape priors, mirror symmetries and symmetry axes) can be used to increase the efficiency, accuracy and robustness.

* funded by the German Science Foundation (DFG).

Experimental Results

Matching scans of a bust, scanned using DAVID-Laserscanner(External)
Video download: beethoven.wmv (Windows Media, 0.9MB)

Three fragments of a venus statue.
Video download: venus.wmv (Windows Media, 1.6MB)

Reassambling of thin walled fragments (a broken cup).
Video download: cup.wmv (Windows Media, 0.5MB)

Solving the bin picking problem by matching
CAD models with a 3d scan of the scene.
Video download: fitting.wmv (Windows Media, 1.4MB)

Matching of a femoral fracture using axes contraints.
Video download: femur.wmv (Windows Media, 1.5MB)

Matching of a pelvic fracture using symmety constraints.
Video download: pelvis.wmv (Windows Media, 2.3MB)

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