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Rapid 3D visualization of indoor scenes using 3D occupancy grid isosurfaces

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2 Author(s)
Zask, R. ; Comput. Sci. & Inf. Manage., Asian Inst. of Technol., Pathumthani ; Dailey, M.N.

In many mobile robotics applications involving exploration of unknown environments, it would be extremely useful to provide human operators with a real-time 3D visualization of the environment the robot is exploring. Although a great deal of progress has been made in the separate fields of photorealistic structure from motion and realtime vision-based robot localization and mapping (SLAM), the ultimate goal of real-time 3D visualization of the environment a robot is exploring has yet to be realized. In this paper, we present a simple and efficient incremental algorithm for 3D modeling amenable to realtime implementation. The algorithm creates a texture-mapped polygonal mesh model of the environment from a monocular video feed or sequence of images. The key to the algorithm's simplicity and efficiency is the use of the isosurface of a coarse 3D occupancy grid that is incrementally updated as new images arrive. The isosurface-based reconstruction provides low metric accuracy but helps to filter measurement noise and allows rapid construction of a 3D visualization. We demonstrate the practicality and effectiveness of the algorithm by using it to generate an OpenGL model of a real indoor environment.

Published in:

Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, 2009. ECTI-CON 2009. 6th International Conference on  (Volume:02 )

Date of Conference:

6-9 May 2009