Build 3D Abstractions with Wireframes

This chapter serves as an introduction to 3D representations of scenes or Structure From Motion (SfM) from straight line segments. Lines are frequently found in captures of man-made environments, and in nature are mixed with more organic shapes. The inclusion of straight lines in 3D representations provide structural information about the captured shapes and their limits, such as the intersection of planar structures. Line based SfM methods are not frequent in the literature due to the difficulty of detecting them reliably, their morphological changes under changes of perspective and the challenges inherent to finding correspondences of segments in images between the different views. Additionally, compared to points, lines add the dimensionalities carried by the line directions and lengths, which prevents the epipolar constraint to be valid along a straight line segment between two different views. This chapter introduces the geometrical relations which have to be exploited for SfM sketch or abstraction based on line segments, the optimization methods for its optimization, and how to compare the experimental results with Ground-Truth measurements

Build 3D abstractions with wireframes

This chapter serves as an introduction to 3D representations of scenes orStructure From Motion (SfM) from straight line segments. Lines are frequentlyfound in captures of man-made environments, and in nature are mixed withmore organic shapes. The inclusion of straight lines in 3D representationsprovide structural information about the captured shapes and their limits,such as the intersection of planar structures. Line based SfM methods are notfrequent in the literature due to the difficulty of detecting them reliably, theirmorphological changes under changes of perspective and the challenges inher-ent to finding correspondences of segments in images between the differentviews. Additionally, compared to points, lines add the dimensionalities carriedby the line directions and lengths, which prevents the epipolar constraintto be valid along a straight line segment between two different views. Thischapter introduces the geometrical relations which have to be exploited for SfMsketch or abstraction based on line segments, the optimization methods for itsoptimization, and how to compare the experimental results with Ground-Truthmeasurements

Build 3D abstractions with wireframes

This chapter serves as an introduction to 3D representations of scenes or Structure From Motion (SfM) from straight line segments. Lines are frequently found in captures of man-made environments, and in nature are mixed with more organic shapes. The inclusion of straight lines in 3D representations provide structural information about the captured shapes and their limits, such as the intersection of planar structures. Line based SfM methods are not frequent in the literature due to the difficulty of detecting them reliably, their morphological changes under changes of perspective and the challenges inher- ent to finding correspondences of segments in images between the different views. Additionally, compared to points, lines add the dimensionalities carried by the line directions and lengths, which prevents the epipolar constraint to be valid along a straight line segment between two different views. This chapter introduces the geometrical relations which have to be exploited for SfM sketch or abstraction based on line segments, the optimization methods for its optimization, and how to compare the experimental results with Ground-Truth measurements

Scene Wireframes Sketching for Drones

The increasing use of autonomous UAVs inside buildings and around human-made structures demands new accurate and comprehensive representation of their operation environments. Most of the 3D scene abstraction methods use invariant feature point matching, nevertheless some sparse 3D point clouds do not concisely represent the structure of the environment. Likewise, line clouds constructed by short and redundant segments with inaccurate directions limit the understanding of scenes as those that include environments with poor texture, or whose texture resembles a repetitive pattern. The presented approach is based on observation and representation models using the straight line segments, whose resemble the limits of an urban indoor or outdoor environment. The goal of the work is to get a full method based on the matching of lines that provides a complementary approach to state-of-the-art methods when facing 3D scene representation of poor texture environments for future autonomous UAV