Multi-view Reconstruction of Unknown Objects within a Known Environment

We present a general vision-based method for reconstructing multiple unknown objects (e.g. humans) within a known environment (e.g. tables, racks, robots) which usually has occlusions. These occlusions have to be explicitly considered since parts of the unknown objects might be hidden in some or even all camera views. In order to avoid cluttered reconstructions, plausibility checks are used to eliminate reconstruction artifacts which actually do not contain any unknown object. One application is a supervision/surveillance system for safe human/robot-coexistence and – cooperation. Experiments for a voxel-based implementation are given.