1,316 research outputs found
Dense Piecewise Planar RGB-D SLAM for Indoor Environments
The paper exploits weak Manhattan constraints to parse the structure of
indoor environments from RGB-D video sequences in an online setting. We extend
the previous approach for single view parsing of indoor scenes to video
sequences and formulate the problem of recovering the floor plan of the
environment as an optimal labeling problem solved using dynamic programming.
The temporal continuity is enforced in a recursive setting, where labeling from
previous frames is used as a prior term in the objective function. In addition
to recovery of piecewise planar weak Manhattan structure of the extended
environment, the orthogonality constraints are also exploited by visual
odometry and pose graph optimization. This yields reliable estimates in the
presence of large motions and absence of distinctive features to track. We
evaluate our method on several challenging indoors sequences demonstrating
accurate SLAM and dense mapping of low texture environments. On existing TUM
benchmark we achieve competitive results with the alternative approaches which
fail in our environments.Comment: International Conference on Intelligent Robots and Systems (IROS)
201
Fine-To-Coarse Global Registration of RGB-D Scans
RGB-D scanning of indoor environments is important for many applications,
including real estate, interior design, and virtual reality. However, it is
still challenging to register RGB-D images from a hand-held camera over a long
video sequence into a globally consistent 3D model. Current methods often can
lose tracking or drift and thus fail to reconstruct salient structures in large
environments (e.g., parallel walls in different rooms). To address this
problem, we propose a "fine-to-coarse" global registration algorithm that
leverages robust registrations at finer scales to seed detection and
enforcement of new correspondence and structural constraints at coarser scales.
To test global registration algorithms, we provide a benchmark with 10,401
manually-clicked point correspondences in 25 scenes from the SUN3D dataset.
During experiments with this benchmark, we find that our fine-to-coarse
algorithm registers long RGB-D sequences better than previous methods
3D indoor scene modeling from RGB-D data: a survey
3D scene modeling has long been a fundamental problem in computer graphics and computer vision. With the popularity of consumer-level RGB-D cameras, there is a growing interest in digitizing real-world indoor 3D scenes. However, modeling indoor 3D scenes remains a challenging problem because of the complex structure of interior objects and poor quality of RGB-D data acquired by consumer-level sensors. Various methods have been proposed to tackle these challenges. In this survey, we provide an overview of recent advances in indoor scene modeling techniques, as well as public datasets and code libraries which can facilitate experiments and evaluation
Automatic Objects Removal for Scene Completion
With the explosive growth of web-based cameras and mobile devices, billions
of photographs are uploaded to the internet. We can trivially collect a huge
number of photo streams for various goals, such as 3D scene reconstruction and
other big data applications. However, this is not an easy task due to the fact
the retrieved photos are neither aligned nor calibrated. Furthermore, with the
occlusion of unexpected foreground objects like people, vehicles, it is even
more challenging to find feature correspondences and reconstruct realistic
scenes. In this paper, we propose a structure based image completion algorithm
for object removal that produces visually plausible content with consistent
structure and scene texture. We use an edge matching technique to infer the
potential structure of the unknown region. Driven by the estimated structure,
texture synthesis is performed automatically along the estimated curves. We
evaluate the proposed method on different types of images: from highly
structured indoor environment to the natural scenes. Our experimental results
demonstrate satisfactory performance that can be potentially used for
subsequent big data processing: 3D scene reconstruction and location
recognition.Comment: 6 pages, IEEE International Conference on Computer Communications
(INFOCOM 14), Workshop on Security and Privacy in Big Data, Toronto, Canada,
201
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