Title: | 3D reconstruction of outdoor scenes using structure from motion and depth data |
Authors: | Fujimoto, Keisuke Watanabe, Takashi |
Citation: | WSCG '2015: short communications proceedings: The 23rd International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision 2015 in co-operation with EUROGRAPHICS: University of West Bohemia, Plzen, Czech Republic8-12 June 2015, p. 59-64. |
Issue Date: | 2015 |
Publisher: | Václav Skala - UNION Agency |
Document type: | konferenční příspěvek conferenceObject |
URI: | wscg.zcu.cz/WSCG2015/CSRN-2502.pdf http://hdl.handle.net/11025/29666 |
ISBN: | 978-80-86943-66-4 |
ISSN: | 2464-4617 |
Keywords: | RGB-D senzor;struktura od pohybu;nastavení svazku;bodová mračna;multi view stereo |
Keywords in different language: | RGB-D sensor;structure from motion;bundle adjustment;point clouds;multi view stereo |
Abstract: | Recently, low-cost and small RGB-D sensors appear massively at the entertainment market. These sensors can acquire colored 3D models using color images and depth data. However, a limitation of the RGB-D sensor is that sunlight interferes with the pattern projecting LED. The sensor is most suitable only for indoor scenes. Some RGBD sensors are available in outdoor scenes. However, the measurement range is limited because the light of LED spreads in all directions. In this research, we developed a novel measurement method for RGB-D sensors, which can measure shapes in outdoor scenes. This method uses several measurement data from multiple viewpoints, and estimates the shape and the sensor poses using Structure from Motion (SfM). However, a conventional imagebased SfM cannot determine a correct scale. To determine the correct scale, our method uses the depth information that is obtained from partially acquired area which is near to the viewpoints. Then, our method optimizes the shape and the poses by a modified bundle adjustment with the depth information. It minimizes the reprojection error of the features in the acquired images and the depth error between the estimated model and the measurement depth. At last, our method generates dense point cloud using a multi-view stereo algorithm. Using both the acquired images and depth data, our method reconstructs the shape which locates out of measurement range in outdoor environment. In our experiment, we show that our method can measure the range up to 20 meters away by measuring from several viewpoints in the range of 5 meters using a RGB-D sensor in outdoor scenes. |
Rights: | © Václav Skala - UNION Agency |
Appears in Collections: | WSCG '2015: Short Papers Proceedings |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
Fujimoto.pdf | Plný text | 3,04 MB | Adobe PDF | View/Open |
Please use this identifier to cite or link to this item:
http://hdl.handle.net/11025/29666
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.