The view-cube: an efficient method of view planning for 3Dmodelling from range data
Klein, K.
Sequeira, V.
Fraunhofer Inst. for Comput. Graphics, Darmstadt ;
This paper appears in: Applications of Computer Vision, 2000, Fifth IEEE Workshop on.
Publication Date: 2000
On page(s): 186-191
Meeting Date: 12/04/2000 - 12/06/2000
Location: Palm Springs, CA, USA
ISBN: 0-7695-0813-8
References Cited: 13
INSPEC Accession Number: 6806454
Digital Object Identifier: 10.1109/WACV.2000.895421
Current Version Published: 2002-08-06
Abstract
When aiming at the automated reconstruction of real world scenes
from range images, one has to address the problem of planning the image
acquisition. Although solutions for small objects in well defined
environments are already available, the insufficient scalability of
these approaches to large scenes and to a high number of degrees of
freedom limits their applicability. In this paper we present a new
planning algorithm with emphasis on practical usability in initially
unknown, large indoor environments. Using a surface representation of
seen and unseen parts of the environment, we propose an objective
function based on the analysis of occlusions. In addition to previous
approaches, we take into account both a quality criterion and the cost
of the next acquisition. By optimising this objective function, the
parameters of the next view are computed efficiently for a large search
space with eight degrees of freedom (3D position, viewing direction,
field of view, and resolution). Our technique exploits
hardware-accelerated rendering (OpenGL) in order to perform the
expensive visibility computation, which reduces the computation time of
one planning step to a couple of minutes. Results are shown for two
large indoor scenes-an artificial scene and a real world room-with
numerous self occlusions
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