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Sushi: Supervisory Scanner Human Interface
Michael Greenspan

in collaboration with: Winston Wong, Christian Langis,
Jean-Francois LaPointe, Ben Houston,
Vitana, and Hymarc Ltd.

Object digitization - the process of acquiring a complete covering set of range images of the surface of a model - is a highly skilled process, and can be labor intensive.  Sushi is a system which applies a semi-autonomous approach to the human computer interaction of digitization.

The Sushi system was inspired by previous research in the supervisory control of robots, as well as the Hymarc Ltd. RapidscanTM project. The hardware platform comprises a Vitana Biris range sensor mounted on a CRS A465 robotic manipulator. The operator is provided which a 3D simulation visualization of the  robot-mounted scanning system and workspace, as well as a rich set of tools to help plan and visualize image acquisition.


Current system features include:

  • frustum positioning and gaze planning tools
  • collision detection/motion planning
  • ICP-based registration
  • image filtering and post processing

An attractive aspect of the Sushi framework is that it is incremental: additional functions with a greater degree of autonomy can be added as they become available.


Following are some images of two objects that we have modeled using Sushi - a Brachiosaurus and Mr. Clown (thank you Isaac for lending us some toys). Each model required around 20 range images. It took approximately 4 hours to acquire the data which, given the complexity of the objects, is quite efficient.


Mr. Clown