Data Fusion of Objects Using Techniques Such as Laser Scanning, Structured Light and Photogrammetry for Cultural Heritage Applications

In this paper we present a semi-automatic 2D-3D local registration pipeline capable of coloring 3D models obtained from 3D scanners by using uncalibrated images. The proposed pipeline exploits the Structure from Motion (SfM) technique in order to reconstruct a sparse representation of the 3D object and obtain the camera parameters from image feature matches. We then coarsely register the reconstructed 3D model to the scanned one through the Scale Iterative Closest Point (SICP) algorithm. SICP provides the global scale, rotation and translation parameters, using minimal manual user intervention. In the final processing stage, a local registration refinement algorithm optimizes the color projection of the aligned photos on the 3D object removing the blurring/ghosting artefacts introduced due to small inaccuracies during the registration. The proposed pipeline is capable of handling real world cases with a range of characteristics from objects with low level geometric features to complex ones

Robust Photogeometric Localization over Time for Map-Centric Loop Closure

Map-centric SLAM is emerging as an alternative of conventional graph-based SLAM for its accuracy and efficiency in long-term mapping problems. However, in map-centric SLAM, the process of loop closure differs from that of conventional SLAM and the result of incorrect loop closure is more destructive and is not reversible. In this paper, we present a tightly coupled photogeometric metric localization for the loop closure problem in map-centric SLAM. In particular, our method combines complementary constraints from LiDAR and camera sensors, and validates loop closure candidates with sequential observations. The proposed method provides a visual evidence-based outlier rejection where failures caused by either place recognition or localization outliers can be effectively removed. We demonstrate the proposed method is not only more accurate than the conventional global ICP methods but is also robust to incorrect initial pose guesses.Comment: To Appear in IEEE ROBOTICS AND AUTOMATION LETTERS, ACCEPTED JANUARY 201

3D reconstruction of ribcage geometry from biplanar radiographs using a statistical parametric model approach

Rib cage 3D reconstruction is an important prerequisite for thoracic spine modelling, particularly for studies of the deformed thorax in adolescent idiopathic scoliosis. This study proposes a new method for rib cage 3D reconstruction from biplanar radiographs, using a statistical parametric model approach. Simplified parametric models were defined at the hierarchical levels of rib cage surface, rib midline and rib surface, and applied on a database of 86 trunks. The resulting parameter database served to statistical models learning which were used to quickly provide a first estimate of the reconstruction from identifications on both radiographs. This solution was then refined by manual adjustments in order to improve the matching between model and image. Accuracy was assessed by comparison with 29 rib cages from CT scans in terms of geometrical parameter differences and in terms of line-to-line error distance between the rib midlines. Intra and inter-observer reproducibility were determined regarding 20 scoliotic patients. The first estimate (mean reconstruction time of 2’30) was sufficient to extract the main rib cage global parameters with a 95% confidence interval lower than 7%, 8%, 2% and 4° for rib cage volume, antero-posterior and lateral maximal diameters and maximal rib hump, respectively. The mean error distance was 5.4 mm (max 35mm) down to 3.6 mm (max 24 mm) after the manual adjustment step (+3’30). The proposed method will improve developments of rib cage finite element modeling and evaluation of clinical outcomes.This work was funded by Paris Tech BiomecAM chair on subject specific muscular skeletal modeling, and we express our acknowledgments to the chair founders: Cotrel foundation, Société générale, Protéor Company and COVEA consortium. We extend your acknowledgements to Alina Badina for medical imaging data, Alexandre Journé for his advices, and Thomas Joubert for his technical support

Plane-Based Optimization of Geometry and Texture for RGB-D Reconstruction of Indoor Scenes

We present a novel approach to reconstruct RGB-D indoor scene with plane primitives. Our approach takes as input a RGB-D sequence and a dense coarse mesh reconstructed by some 3D reconstruction method on the sequence, and generate a lightweight, low-polygonal mesh with clear face textures and sharp features without losing geometry details from the original scene. To achieve this, we firstly partition the input mesh with plane primitives, simplify it into a lightweight mesh next, then optimize plane parameters, camera poses and texture colors to maximize the photometric consistency across frames, and finally optimize mesh geometry to maximize consistency between geometry and planes. Compared to existing planar reconstruction methods which only cover large planar regions in the scene, our method builds the entire scene by adaptive planes without losing geometry details and preserves sharp features in the final mesh. We demonstrate the effectiveness of our approach by applying it onto several RGB-D scans and comparing it to other state-of-the-art reconstruction methods.Comment: in International Conference on 3D Vision 2018; Models and Code: see https://github.com/chaowang15/plane-opt-rgbd. arXiv admin note: text overlap with arXiv:1905.0885