Extracting objects from range and radiance images
Yizhou Yu
Ferencz, A.
Malik, J.
Dept. of Comput. Sci., Univ. of Illinois at Urbana-Champaign, Urbana, IL;
This paper appears in: Visualization and Computer Graphics, IEEE Transactions on
Publication Date: Oct-Dec 2001
Volume: 7,
Issue: 4
On page(s): 351-364
ISSN: 1077-2626
References Cited: 53
CODEN: ITVGEA
INSPEC Accession Number: 7100115
Digital Object Identifier: 10.1109/2945.965349
Current Version Published: 2002-08-06
Abstract
In this paper, we present a pipeline and several key techniques
necessary for editing a real scene captured with both cameras and laser
range scanners. We develop automatic algorithms to segment the geometry
from range images into distinct surfaces, register texture from radiance
images with the geometry, and synthesize compact high-quality texture
maps. The result is an object-level representation of the scene which
can be rendered with modifications to structure via traditional
rendering methods. The segmentation algorithm for geometry operates
directly on the point cloud from multiple registered 3D range images
instead of a reconstructed mesh. It is a top-down algorithm which
recursively partitions a point set into two subsets using a pairwise
similarity measure. The result is a binary tree with individual surfaces
as leaves. Our image registration technique performs a very efficient
search to automatically find the camera poses for arbitrary position and
orientation relative to the geometry. Thus, we can take photographs from
any location without precalibration between the scanner and the camera.
The algorithms have been applied to large-scale real data. We
demonstrate our ability to edit a captured scene by moving, inserting,
and deleting objects
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