Surface Modeling and Analysis Using Range Images: Smoothing, Registration, Integration, and Segmentation

This dissertation presents a framework for 3D reconstruction and scene analysis, using a set of range images. The motivation for developing this framework came from the needs to reconstruct the surfaces of small mechanical parts in reverse engineering tasks, build a virtual environment of indoor and outdoor scenes, and understand 3D images. The input of the framework is a set of range images of an object or a scene captured by range scanners. The output is a triangulated surface that can be segmented into meaningful parts. A textured surface can be reconstructed if color images are provided. The framework consists of surface smoothing, registration, integration, and segmentation. Surface smoothing eliminates the noise present in raw measurements from range scanners. This research proposes area-decreasing flow that is theoretically identical to the mean curvature flow. Using area-decreasing flow, there is no need to estimate the curvature value and an optimal step size of the flow can be obtained. Crease edges and sharp corners are preserved by an adaptive scheme. Surface registration aligns measurements from different viewpoints in a common coordinate system. This research proposes a new surface representation scheme named point fingerprint. Surfaces are registered by finding corresponding point pairs in an overlapping region based on fingerprint comparison. Surface integration merges registered surface patches into a whole surface. This research employs an implicit surface-based integration technique. The proposed algorithm can generate watertight models by space carving or filling the holes based on volumetric interpolation. Textures from different views are integrated inside a volumetric grid. Surface segmentation is useful to decompose CAD models in reverse engineering tasks and help object recognition in a 3D scene. This research proposes a watershed-based surface mesh segmentation approach. The new algorithm accurately segments the plateaus by geodesic erosion using fast marching method. The performance of the framework is presented using both synthetic and real world data from different range scanners. The dissertation concludes by summarizing the development of the framework and then suggests future research topics

3D scanning of cultural heritage with consumer depth cameras

Three dimensional reconstruction of cultural heritage objects is an expensive and time-consuming process. Recent consumer real-time depth acquisition devices, like Microsoft Kinect, allow very fast and simple acquisition of 3D views. However 3D scanning with such devices is a challenging task due to the limited accuracy and reliability of the acquired data. This paper introduces a 3D reconstruction pipeline suited to use consumer depth cameras as hand-held scanners for cultural heritage objects. Several new contributions have been made to achieve this result. They include an ad-hoc filtering scheme that exploits the model of the error on the acquired data and a novel algorithm for the extraction of salient points exploiting both depth and color data. Then the salient points are used within a modified version of the ICP algorithm that exploits both geometry and color distances to precisely align the views even when geometry information is not sufficient to constrain the registration. The proposed method, although applicable to generic scenes, has been tuned to the acquisition of sculptures and in this connection its performance is rather interesting as the experimental results indicate

GASP : Geometric Association with Surface Patches

A fundamental challenge to sensory processing tasks in perception and robotics is the problem of obtaining data associations across views. We present a robust solution for ascertaining potentially dense surface patch (superpixel) associations, requiring just range information. Our approach involves decomposition of a view into regularized surface patches. We represent them as sequences expressing geometry invariantly over their superpixel neighborhoods, as uniquely consistent partial orderings. We match these representations through an optimal sequence comparison metric based on the Damerau-Levenshtein distance - enabling robust association with quadratic complexity (in contrast to hitherto employed joint matching formulations which are NP-complete). The approach is able to perform under wide baselines, heavy rotations, partial overlaps, significant occlusions and sensor noise. The technique does not require any priors -- motion or otherwise, and does not make restrictive assumptions on scene structure and sensor movement. It does not require appearance -- is hence more widely applicable than appearance reliant methods, and invulnerable to related ambiguities such as textureless or aliased content. We present promising qualitative and quantitative results under diverse settings, along with comparatives with popular approaches based on range as well as RGB-D data.Comment: International Conference on 3D Vision, 201