|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
|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||URI:||http://hdl.handle.net/11420/6253||ISBN:||978-146738026-3||Institute:||Bildverarbeitungssysteme E-2||Type:||InProceedings (Aufsatz / Paper einer Konferenz etc.)|
|Appears in Collections:||Publications without fulltext|
Show full item record
checked on Jul 16, 2020
Add Files to Item
Note about this record
Items in TORE are protected by copyright, with all rights reserved, unless otherwise indicated.