Skip to main content

User Guidance and Automatic Completion for Generating Planar B-Rep Models


A representation of the world as a 3D model is a common necessity in robotics and automation. In previous work, we developed a concept to generate boundary representation (B-Rep) models from multiple point clouds using a hand-held depth-camera and to register them without a prior known pose. During the online reconstruction, properties of the sensor and the system (like noise) lead to small holes in the B-Rep. To prevent tedious post-processing, holes should be closed during the reconstruction. Our goal is to automatically close identified holes. However, not every hole can be closed automatically, as it may be unreasonable. For this case we develop a visual indication for the user, so he can close the hole by recording another depth image. In an experimental validation, we conclude the usefulness of the addition to the system.


  • Reconstruction
  • Volumetric models
  • Visualization
  • CAD


  • 1. T. Breitbach: Effizienzsteigerung der Zellenmodellierung für Industireroboter durch hybride Simulationsmodelle. RWTH Aachen, 2015.

    Google Scholar 

  • 2. H.-J. Schweizer: Experimentelle Untersuchungen über den Auge-Hand-Regelkreis bei der Durchführung einer Balancieraufgabe unter stroboskopischer Beleuchtung. Kybernetik, 1971.

    Google Scholar 

  • 3. M. Sand and D. Henrich: Incremental reconstruction of planar B-Rep models from multiple point clouds. The Visual Computer, 2016.

    Google Scholar 

  • 4. M. Sand and D. Henrich: Matching and Pose Estimation of Noisy, Partial and Planar B-rep Models. Proceedings of the Computer Graphics International, 2017.

    Google Scholar 

  • 5. S. Izadi et al.: KinectFusion: Real-time 3D Reconstruction and Interaction Using a Moving Depth Camera. User Interface Software and Technology, 2011.

    Google Scholar 

  • 6. E. Dunn and J. M. Frahm: Next best view planning for active model improvement. British Machine Vision Conference, 2009.

    Google Scholar 

  • 7. S. Chen et al.: Active vision in robotic systems: A survey of recent developments. The International Journal of Robotics Research, 2011.

    Google Scholar 

  • 8. T. Ju: Fixing Geometric Errors on Polygonal Models: A Survey. Journal of Computer Science and Technology, 2009

    Google Scholar 

  • 9. X. Guo et. al.: A survey on algorithms of hole filling in 3D surface reconstruction. The Visual Computer, 2018.

    Google Scholar 

  • 10. G. Barequet and S. Kumar: Repairing CAD models. Visualization, 1997.

    Google Scholar 

  • 11. S. Bischoff and L. Kobbelt: Structure Preserving CAD Model Repair. Computer Graphics Forum, 2005.

    Google Scholar 

  • 12. T. Werner et al.: Sparse and Precise Reconstruction of Static Obstacles for Real-Time Path Planning in Human-Robot Workspaces. International Symposium on Robotics, 2018.

    Google Scholar 

  • 13. L. S. Tekumalla and E. Cohen: Reverse Engineering Point Clouds to Fit Tensor Product B-Spline Surfaces by Blending Local Fits. CoRR, 2014.

    Google Scholar 

  • 14. J. Branch et al.: Automatic Hole-Filling of Triangular Meshes Using Local Radial Basis Function. 3D Data Processing, Visualization, and Transmission, 2006.

    Google Scholar 

  • 15. G. Harary et al.: Context-based Coherent Surface Completion. Transactions on Graphics, 2014.

    Google Scholar 

  • 16. Y. Jun: A piecewise hole filling algorithm in reverse engineering. Computer-Aided Design, 2005.

    Google Scholar 

  • 17. M. Wei et al.: An Integrated Approach to Filling Holes in Meshes. Artificial Intelligence and Computational Intelligence, 2010.

    Google Scholar 

Download references


This work has partly been supported by the Deutsche Forschungsgemeinschaft (DFG) under grant agreement He2696/16 HandCAD.

Author information

Authors and Affiliations


Corresponding author

Correspondence to Dorian Rohner .

Editor information

Editors and Affiliations

Rights and permissions

Open Access This chapter is licensed under the terms of the Creative Commons Attribution 4.0 International License (, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

The images or other third party material in this chapter are included in the chapter's Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the chapter's Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder.

Reprints and Permissions

Copyright information

© 2020 The Author(s)

About this paper

Verify currency and authenticity via CrossMark

Cite this paper

Rohner, D., Sand, M., Henrich, D. (2020). User Guidance and Automatic Completion for Generating Planar B-Rep Models. In: Schüppstuhl, T., Tracht, K., Henrich, D. (eds) Annals of Scientific Society for Assembly, Handling and Industrial Robotics. Springer Vieweg, Berlin, Heidelberg.

Download citation