DC FieldValueLanguage
dc.contributor.authorMentges, Gerhard-
dc.contributor.authorGrigat, Rolf-Rainer-
dc.date.accessioned2020-06-05T12:41:01Z-
dc.date.available2020-06-05T12:41:01Z-
dc.date.issued2016-06-08-
dc.identifier.citationIEEE International Conference on Robotics and Automation: 7487231 (2016-06-08)de_DE
dc.identifier.isbn978-146738026-3de_DE
dc.identifier.urihttp://hdl.handle.net/11420/6253-
dc.description.abstractIn 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.en
dc.language.isoende_DE
dc.titleSurface reconstruction from image space adjacency of lines using breadth-first plane searchde_DE
dc.typeinProceedingsde_DE
dc.type.dinicontributionToPeriodical-
dcterms.DCMITypeText-
tuhh.abstract.englishIn 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.de_DE
tuhh.publisher.doi10.1109/ICRA.2016.7487231-
tuhh.publication.instituteBildverarbeitungssysteme E-2de_DE
tuhh.type.opusInProceedings (Aufsatz / Paper einer Konferenz etc.)-
dc.type.drivercontributionToPeriodical-
dc.type.casraiConference Paper-
tuhh.container.volume2016-Junede_DE
tuhh.container.startpage995de_DE
tuhh.container.endpage1002de_DE
dc.relation.conferenceIEEE International Conference on Robotics and Automation 2016de_DE
tuhh.container.articlenumber7487231de_DE
item.creatorGNDMentges, Gerhard-
item.creatorGNDGrigat, Rolf-Rainer-
item.openairecristypehttp://purl.org/coar/resource_type/c_5794-
item.grantfulltextnone-
item.languageiso639-1en-
item.openairetypeinProceedings-
item.cerifentitytypePublications-
item.creatorOrcidMentges, Gerhard-
item.creatorOrcidGrigat, Rolf-Rainer-
item.fulltextNo Fulltext-
crisitem.author.deptBildverarbeitungssysteme E-2-
crisitem.author.deptBildverarbeitungssysteme E-2-
crisitem.author.orcid0000-0002-2450-5877-
crisitem.author.parentorgStudiendekanat Elektrotechnik, Informatik und Mathematik-
crisitem.author.parentorgStudiendekanat Elektrotechnik, Informatik und Mathematik-
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