Accession Number ADA577478
Title Fast, Automated, 3D Modeling of Building Interiors.
Publication Date Oct 2012
Media Count 15p
Personal Author A. Zakhor
Abstract Fast, automated, photo-realistic 3D modeling of indoor environments is useful in military reconnaissance applications and civilian emergency response applications. Over the past five years, we have developed a human operated ambulatory backpack system equipped with 2D laser range finders, IMU and cameras in order to capture geometry and texture of the building interiors. The main advantage of our approach over a wheeled system is its capability to model uneven surfaces such as staircases; however our system requires 6 DoF pose recovery, rather than 3 for wheeled systems. As such, we have developed a number of sensor fusion and localization algorithms to recover full 6D pose and characterized their performance and accuracy using a highly accurate navigation grade IMU HG9900. An important component of our localization algorithms is loop closure detection and enforcement algorithms for which we use camera imagery as input. Localization of the data acquisition system enables generation of 3D point clouds, which are then input to our watertight surface reconstruction algorithms such as voxel carving, or 2D floor plan recovery algorithms. The models are then texture mapped with camera imagery using our algorithms which are designed to minimize seaming artifacts between images.
Keywords 3d modeling
Building interiors
Environments
Localization 6 dof
Mapping
Models
Pose recovery
Reconnaissance
Surface reconstruction
Texture mapping loop closures
Three dimensional
Watertightness


 
Source Agency Non Paid ADAS
NTIS Subject Category 72B - Algebra, Analysis, Geometry, & Mathematical Logic
94K - Laboratory & Test Facility Design & Operation
Corporate Author California Univ., Berkeley.
Document Type Technical report
Title Note Final rept. 1 Jul 2007 - 19 Mar 2012.
NTIS Issue Number 1320
Contract Number W911NF-07-1-0471

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