Active Image-based Modeling with a Toy Drone

Image-based modeling techniques can now generate photo-realistic 3D models from images. But it is up to users to provide high quality images with good coverage and view overlap, which makes the data capturing process tedious and time consuming. We seek to automate data capturing for image-based modeling. The core of our system is an iterative linear method to solve the multi-view stereo (MVS) problem quickly and plan the Next-Best-View (NBV) effectively. Our fast MVS algorithm enables online model reconstruction and quality assessment to determine the NBVs on the fly. We test our system with a toy unmanned aerial vehicle (UAV) in simulated, indoor and outdoor experiments. Results show that our system improves the efficiency of data acquisition and ensures the completeness of the final model.Comment: To be published on International Conference on Robotics and Automation 2018, Brisbane, Australia. Project Page: https://huangrui815.github.io/active-image-based-modeling/ The author's personal page: http://www.sfu.ca/~rha55

Vision technology/algorithms for space robotics applications

The thrust of automation and robotics for space applications has been proposed for increased productivity, improved reliability, increased flexibility, higher safety, and for the performance of automating time-consuming tasks, increasing productivity/performance of crew-accomplished tasks, and performing tasks beyond the capability of the crew. This paper provides a review of efforts currently in progress in the area of robotic vision. Both systems and algorithms are discussed. The evolution of future vision/sensing is projected to include the fusion of multisensors ranging from microwave to optical with multimode capability to include position, attitude, recognition, and motion parameters. The key feature of the overall system design will be small size and weight, fast signal processing, robust algorithms, and accurate parameter determination. These aspects of vision/sensing are also discussed

Distribución y uso de modelos 3D en la web: ¿estamos listos?

[EN] Digital technologies are now mature for producing high quality digital replicas of Cultural Heritage (CH) assets. The research results produced in the last decade ignitedan impressive evolution and consolidation of the technologies for acquiring high-quality digital three-dimensional (3D)models, encompassing both geometry and color. What remains still an open problem is how to deliver those data and related knowledge to our society. The web is nowadays the main channel for the dissemination of knowledge. Emerging commercial solutions for web-publishing of 3D data are consolidating and becoming a de-facto standard for many applications(e-commerce, industrial products, education, etc.).In this framework, CH is a very specific domain, requiring highly flexible solutions. Some recent experiences arepresented, aimed at providing a support to the archival of archaeological3Ddata, supporting web-based publishing of very high-resolution digitization results and finally enabling the documentation of complex restoration actions. All those examples have been recently implemented on the open-source 3D Heritage Online Presenter (3DHOP)platform, developed at CNR-ISTI[ES] Las tecnologías digitales estánahora maduraspara producir réplicas digitales de alta calidad de valores activos del patrimonio cultural (CH). Los resultados de la investigación producidos en la última década han mostrado una evolución impresionante y una consolidación de las tecnologías para la capturade modelos digitales tridimensionales (3D)de alta calidad, que abarcanla geometríay el color.Lo que queda aún por resolver estárelacionado con la forma de distribuirlos datos y el conocimiento relacionado conla sociedad. La web es hoy en día el principal canal utilizado para divulgarel conocimiento. Las soluciones comerciales nuevas relacionadas con la publicación en la red de datos en 3D se están consolidando y convirtiendo en un estándar de facto para muchas aplicaciones(comercio electrónico, productos industriales, educación, etc.). En este escenario, el patrimonio culturales un dominio muy específico, que requiere soluciones muyflexibles.Se presentan algunas experiencias recientes, destinadasa proporcionar un apoyo al archivo de los datos arqueológicos3D, la publicaciónwebde los resultados de digitalización de muy alta resoluciónque permitenfinalmente la documentación de trabajos de restauracióncomplejos. Todos estos ejemplos se han implementado recientemente en la plataforma 3D Heritage Online Presenter(3DHOP)de código abierto, desarrolladaen el CNR-ISTI.The research leading to these results has received funding from the EU 7th Framework Programme (FP7/2007-2013) under grant agreement no. 654119 (EC "PARTHENOS" project) and EU H2020 Programme (“EMOTIVE: EMOTIve Virtual cultural Experiences through personalized storytelling”, H2020-SC6-CULT-COOP-08-2016) under grant agreement no. 727188.Scopigno, R.; Callieri, M.; Dellepiane, M.; Ponchio, F.; Potenziani, M. (2017). Delivering and using 3D models on the web: are we ready?. Virtual Archaeology Review. 8(17):1-9. https://doi.org/10.4995/var.2017.6405SWORD1981

State-of-The-Art and Applications of 3D Imaging Sensors in Industry, Cultural Heritage, Medicine, and Criminal Investigation

3D imaging sensors for the acquisition of three dimensional (3D) shapes have created, in recent years, a considerable degree of interest for a number of applications. The miniaturization and integration of the optical and electronic components used to build them have played a crucial role in the achievement of compactness, robustness and flexibility of the sensors. Today, several 3D sensors are available on the market, even in combination with other sensors in a “sensor fusion” approach. An importance equal to that of physical miniaturization has the portability of the measurements, via suitable interfaces, into software environments designed for their elaboration, e.g., CAD-CAM systems, virtual renders, and rapid prototyping tools. In this paper, following an overview of the state-of-art of 3D imaging sensors, a number of significant examples of their use are presented, with particular reference to industry, heritage, medicine, and criminal investigation applications

Graphic study and geovisualization of the old windmills of La Mancha (Spain)

In Spain, one can find geographical diversity and unique sites of great significance and cultural heritage. Many of the nation’s treasured places, however, have deteriorated or have even disappeared. What is left, then, should be studied and documented both graphically and infographically. It is important to preserve and document Spain’s unique locations, especially those related to vernacular heritage, to transhumance and visual impact assessment in many national infrastructures projects. Windmills are important examples of agro-industrial heritage and are sometimes found in the beds of streams and rivers but can also be found high in the hills. Their presence is constant throughout the Iberian Peninsula. These mills are no longer in use due to technological advances and the emergence of new grinding systems. The aim of this study was to present a specific methodology for the documentation of windmills, to create a graphical representation using computer graphics, as well as to disseminate knowledge of this agro-industrial heritage. This research has integrated graphic materials, including freehand sketches, photographs, digital orthophotos, computer graphics and multimedia in the creation of a specific methodology based on cutting-edge technology such as a digital photogrammetric workstation (DPW), global navigation satellite systems (GNSS), computer-aided design (CAD) and computer animation

Surface Edge Explorer (SEE): Planning Next Best Views Directly from 3D Observations

Surveying 3D scenes is a common task in robotics. Systems can do so autonomously by iteratively obtaining measurements. This process of planning observations to improve the model of a scene is called Next Best View (NBV) planning. NBV planning approaches often use either volumetric (e.g., voxel grids) or surface (e.g., triangulated meshes) representations. Volumetric approaches generalise well between scenes as they do not depend on surface geometry but do not scale to high-resolution models of large scenes. Surface representations can obtain high-resolution models at any scale but often require tuning of unintuitive parameters or multiple survey stages. This paper presents a scene-model-free NBV planning approach with a density representation. The Surface Edge Explorer (SEE) uses the density of current measurements to detect and explore observed surface boundaries. This approach is shown experimentally to provide better surface coverage in lower computation time than the evaluated state-of-the-art volumetric approaches while moving equivalent distances