Publisher DOI: 10.1109/ICRA.2016.7487231
Title: Surface reconstruction from image space adjacency of lines using breadth-first plane search
Language: English
Authors: Mentges, Gerhard 
Grigat, Rolf-Rainer 
Issue Date: 8-Jun-2016
Source: IEEE International Conference on Robotics and Automation: 7487231 (2016-06-08)
Abstract (english): 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 and poses obtained via Line-SLAM, we project segments from multiple frames into keyframes for image-space analysis. For each keyframe, a grid of image faces is created by optimized intersection of the segment projection lines. These faces define a segment adjacency graph, wherein we perform our Breadth-First Plane Search (BFPS). The found plane hypotheses are merged maximally with respect to a structure-preserving criterion by growing coplanar regions across the graph. Hypotheses violating the visibility constraint are discarded based on fast per-face and mostly nongeometrical evaluation of the scene and image graph. Finally, each image face gets back-projected onto an optimal plane to obtain a 3D surface model. The presented system is a complete and automatic solution suitable for mapping an environment in real-time scenarios like robotic exploration. We demonstrate the performance of our algorithm on several indoor scenes of varying complexity. Compared to a pure 3D analysis of segments, we see a speed-up by one to almost two orders of magnitude, while still improving on reconstruction accuracy.
Conference: IEEE International Conference on Robotics and Automation 2016 
ISBN: 978-146738026-3
Institute: Bildverarbeitungssysteme E-2 
Type: InProceedings (Aufsatz / Paper einer Konferenz etc.)
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