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Maximally informative surface reconstruction from lines
Publikationstyp
Conference Paper
Date Issued
2014-09-29
Sprache
English
Author(s)
Institut
TORE-URI
Start Page
2029
End Page
2036
Article Number
6907128
Citation
Proceedings - IEEE International Conference on Robotics and Automation: 6907128, 2029-2036 (2014)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
In this paper, we propose a novel multi-view method for surface reconstruction from matched line segments with applications to robotic mapping and image-based rendering. Starting from 3D line segments, plane hypotheses are formed for all non-collinear and sufficiently coplanar segment pairs. The surface that is spanned by two segments is used to immediately prune hypotheses that do not pass a sight line occlusion check to keep the initial plane number tractable. After further merging, exhaustive intersections are computed in an efficient way to yield a maximally informative surface representation. Finally, robustified visibility constraints are used to recover a dense surface mesh that is a pessimistic representation of the free space, which is desirable for path planning applications. The presented system is a complete and automatic solution suitable for mapping an environment in realtime scenarios like robotic exploration. We demonstrate the performance of our algorithm on several indoor scenes with varying complexity.
DDC Class
004: Informatik