SurfelMeshing: Online Surfel-Based Mesh Reconstruction

We address the problem of mesh reconstruction from live RGB-D video, assuming a calibrated camera and poses provided externally (e.g., by a SLAM system). In contrast to most existing approaches, we do not fuse depth measurements in a volume but in a dense surfel cloud. We asynchronously (re)triangulate the smoothed surfels to reconstruct a surface mesh. This novel approach enables to maintain a dense surface representation of the scene during SLAM which can quickly adapt to loop closures. This is possible by deforming the surfel cloud and asynchronously remeshing the surface where necessary. The surfel-based representation also naturally supports strongly varying scan resolution. In particular, it reconstructs colors at the input camera's resolution. Moreover, in contrast to many volumetric approaches, ours can reconstruct thin objects since objects do not need to enclose a volume. We demonstrate our approach in a number of experiments, showing that it produces reconstructions that are competitive with the state-of-the-art, and we discuss its advantages and limitations. The algorithm (excluding loop closure functionality) is available as open source at https://github.com/puzzlepaint/surfelmeshing .Comment: Version accepted to IEEE Transactions on Pattern Analysis and Machine Intelligenc

Marching Intersections: An Efficient Approach to Shape-from-Silhouette

A new shape-from-silhouette algorithm for the creation of 3D digital models is presented. The algorithm is based on the use of the Marching Intersection (MI) data structure, a volumetric scheme which allows ef\ufb01cient representation of 3D polyhedra and reduces the boolean operations between them to simple boolean operations on linear intervals. MI supports the de\ufb01nition of a direct shape-from-silhouette approach: the 3D conoids built from the silhouettes extracted from the images of the object are directly intersected to form the resulting 3D digital model. Compared to existing methods, our approach allows high quality models to be obtained in an ef\ufb01cient way. Examples on synthetic objects together with quantitative and qualitative evaluations are given

Integration of multiple overlapping range images

The work described in this document continues the developing of an online 3D reconstruction pipeline for the ESAT-PSI department of K.U. Leuven (Belgium). The idea of this 3D reconstruction pipeline is that only a digital photo camera and Internet connection is necessary for a user to reconstruct scenes in 3D. The process of obtaining a 3D model from the reconstruction pipeline involves the following main three phases: the data acquisition step of the desired object, the data 3D reconstruction of the partial views and the integration of partial reconstructions in one single 3D model. In the data acquisition phase, some regular images are taken by a consumer-grade digital camera of the target object and uploaded to the reconstruction server. In the reconstruction step, the position (and internal parameters) of the camera is computed for each image. Stereo algorithms are used to create partial reconstructions from each image that are all aligned in a common coordinate system. Both steps have already been developed. In the integration phase, we aim to all these partial reconstructions into single 3D model representation. It is this place that being developed in this Master Thesis. A volumetric integration technique for merging multiple aligned overlapping range images based on the Marching Intersections algorithm is implemented. Furthermore, several techniques are implemented to improve the quality of the 3D final representation. These techniques are: - A filtering procedure of the partial reconstructions. - A weighted function according to the data input confidence. - A triangular mesh-based hole-filling algorithm. - An algorithm for creating a texture by stitching color information from the set of RGB input images using camera’s visibility information. We analyze and obtain conclusions about the results of the implemented integration algorithm and how works the proposed improving techniques. Finally, we analyze a comparison between our application and the volumetric integration algorithm called VripPack

Range Tracing

In this report, we tackle the problem of merging an arbitrary number of range scans (depth images) into a single surface mesh. The mesh-based representation is superior to point-based approaches since it contains important connectivity information. Most previous mesh-based merge methods, however, lose surface details by using simplifying intermediate surface representations (e.g.\ implicit functions). Such details are essential for further processing steps, especially for feature-preserving reconstruction methods. Our method preserves all information (connectivity and the original measurement positions) as edges and vertices of a merged surface mesh. It avoids aliasing and smoothing artifacts, adapts to the local scanner sampling and is independent of the overlap size of the input range scans. The algorithm consists of only two basic operations and is therefore simple to implement. We evaluate the performance of our approach on highly detailed real-world scans acquired with different devices

Animating physical phenomena with embedded surface meshes

Accurate computational representations of highly deformable surfaces are indispensable in the fields of computer animation, medical simulation, computer vision, digital modeling, and computational physics. The focus of this dissertation is on the animation of physics-based phenomena with highly detailed deformable surfaces represented by triangle meshes. We first present results from an algorithm that generates continuum mechanics animations with intricate surface features. This method combines a finite element method with a tetrahedral mesh generator and a high resolution surface mesh, and it is orders of magnitude more efficient than previous approaches. Next, we present an efficient solution for the challenging problem of computing topological changes in detailed dynamic surface meshes. We then introduce a new physics-inspired surface tracking algorithm that is capable of preserving arbitrarily thin features and reproducing realistic fine-scale topological changes like Rayleigh-Plateau instabilities. This physics-inspired surface tracking technique also opens the door for a unique coupling between surficial finite element methods and volumetric finite difference methods, in order to simulate liquid surface tension phenomena more efficiently than any previous method. Due to its dramatic increase in computational resolution and efficiency, this method yielded the first computer simulations of a fully developed crown splash with droplet pinch off.Ph.D.Committee Chair: Turk, Greg; Committee Member: Essa, Irfan; Committee Member: Liu, Karen; Committee Member: Mucha, Peter J.; Committee Member: Rossignac, Jare

Fast extraction of adaptive multiresolution meshes with guaranteed properties from volumetric data

We present a new algorithm for extracting adaptive multiresolution triangle meshes from volume datasets. The algorithm guarantees that the topological genus of the generated mesh is the same as the genus of the surface embedded in the volume dataset at all levels of detail. In addition to this "hard constraint" on the genus of the mesh, the user can choose to specify some number of soft geometric constraints, such as triangle aspect ratio, minimum or maximum total number of vertices, minimum and/or maximum triangle edge lengths, maximum magnitude of various error metrics per triangle or vertex, including maximum curvature (area) error, maximum distance to the surface, and others. The mesh extraction process is fully automatic and does not require manual adjusting of parameters to produce the desired results as long as the user does not specify incompatible constraints. The algorithm robustly handles special topological cases, such as trimmed surfaces (intersections of the surface with the volume boundary), and manifolds with multiple disconnected components (several closed surfaces embedded in the same volume dataset). The meshes may self-intersect at coarse resolutions. However, the self-intersections are corrected automatically as the resolution of the meshes increase. We show several examples of meshes extracted from complex volume datasets

Design of decorative 3D models: from geodesic ornaments to tangible assemblies

L'obiettivo di questa tesi è sviluppare strumenti utili per creare opere d'arte decorative digitali in 3D. Uno dei processi decorativi più comunemente usati prevede la creazione di pattern decorativi, al fine di abbellire gli oggetti. Questi pattern possono essere dipinti sull'oggetto di base o realizzati con l'applicazione di piccoli elementi decorativi. Tuttavia, la loro realizzazione nei media digitali non è banale. Da un lato, gli utenti esperti possono eseguire manualmente la pittura delle texture o scolpire ogni decorazione, ma questo processo può richiedere ore per produrre un singolo pezzo e deve essere ripetuto da zero per ogni modello da decorare. D'altra parte, gli approcci automatici allo stato dell'arte si basano sull'approssimazione di questi processi con texturing basato su esempi o texturing procedurale, o con sistemi di riproiezione 3D. Tuttavia, questi approcci possono introdurre importanti limiti nei modelli utilizzabili e nella qualità dei risultati. Il nostro lavoro sfrutta invece i recenti progressi e miglioramenti delle prestazioni nel campo dell'elaborazione geometrica per creare modelli decorativi direttamente sulle superfici. Presentiamo una pipeline per i pattern 2D e una per quelli 3D, e dimostriamo come ognuna di esse possa ricreare una vasta gamma di risultati con minime modifiche dei parametri. Inoltre, studiamo la possibilità di creare modelli decorativi tangibili. I pattern 3D generati possono essere stampati in 3D e applicati a oggetti realmente esistenti precedentemente scansionati. Discutiamo anche la creazione di modelli con mattoncini da costruzione, e la possibilità di mescolare mattoncini standard e mattoncini custom stampati in 3D. Ciò consente una rappresentazione precisa indipendentemente da quanto la voxelizzazione sia approssimativa. I principali contributi di questa tesi sono l'implementazione di due diverse pipeline decorative, un approccio euristico alla costruzione con mattoncini e un dataset per testare quest'ultimo.The aim of this thesis is to develop effective tools to create digital decorative 3D artworks. Real-world art often involves the use of decorative patterns to enrich objects. These patterns can be painted on the base or might be realized with the application of small decorative elements. However, their creation in digital media is not trivial. On the one hand, users can manually perform texture paint or sculpt each decoration, in a process that can take hours to produce a single piece and needs to be repeated from the ground up for every model that needs to be decorated. On the other hand, automatic approaches in state of the art rely on approximating these processes with procedural or by-example texturing or with 3D reprojection. However, these approaches can introduce significant limitations in the models that can be used and in the quality of the results. Instead, our work exploits the recent advances and performance improvements in the geometry processing field to create decorative patterns directly on surfaces. We present a pipeline for 2D and one for 3D patterns and demonstrate how each of them can recreate a variety of results with minimal tweaking of the parameters. Furthermore, we investigate the possibility of creating decorative tangible models. The 3D patterns we generate can be 3D printed and applied to previously scanned real-world objects. We also discuss the creation of models with standard building bricks and the possibility of mixing standard and custom 3D-printed bricks. This allows for a precise representation regardless of the coarseness of the voxelization. The main contributions of this thesis are the implementation of two different decorative pipelines, a heuristic approach to brick construction, and a dataset to test the latter

Theory and algorithms for swept manifold intersections

Recent developments in such fields as computer aided geometric design, geometric modeling, and computational topology have generated a spate of interest towards geometric objects called swept volumes. Besides their great applicability in various practical areas, the mere geometry and topology of these entities make them a perfect testbed for novel approaches aimed at analyzing and representing geometric objects. The structure of swept volumes reveals that it is also important to focus on a little simpler, although a very similar type of objects - swept manifolds. In particular, effective computability of swept manifold intersections is of major concern. The main goal of this dissertation is to conduct a study of swept manifolds and, based on the findings, develop methods for computing swept surface intersections. The twofold nature of this goal prompted a division of the work into two distinct parts. At first, a theoretical analysis of swept manifolds is performed, providing a better insight into the topological structure of swept manifolds and unveiling several important properties. In the course of the investigation, several subclasses of swept manifolds are introduced; in particular, attention is focused on regular and critical swept manifolds. Because of the high applicability, additional effort is put into analysis of two-dimensional swept manifolds - swept surfaces. Some of the valuable properties exhibited by such surfaces are generalized to higher dimensions by introducing yet another class of swept manifolds - recursive swept manifolds. In the second part of this work, algorithms for finding swept surface intersections are developed. The need for such algorithms is necessitated by a specific structure of swept surfaces that precludes direct employment of existing intersection methods. The new algorithms are designed by utilizing the underlying ideas of existing intersection techniques and making necessary technical modifications. Such modifications are achieved by employing properties of swept surfaces obtained in the course of the theoretical study. The intersection problems is also considered from a little different prospective. A novel, homology based approach to local characterization of intersections of submanifolds and s-subvarieties of a Euclidean space is presented. It provides a method for distinguishing between transverse and tangential intersection points and determining, in some cases, whether the intersection point belongs to a boundary. At the end, several possible applications of the obtained results are described, including virtual sculpting and modeling of heterogeneous materials