On detailed 3D reconstruction of large indoor environments

Egor Bondarev

doi:10.1117/12.2085111

16 March 2015 On detailed 3D reconstruction of large indoor environments

Egor Bondarev

Proceedings Volume 9399, Image Processing: Algorithms and Systems XIII; 93990G (2015) https://doi.org/10.1117/12.2085111
Event: SPIE/IS&T Electronic Imaging, 2015, San Francisco, California, United States

Abstract

In this paper we present techniques for highly detailed 3D reconstruction of extra large indoor environments. We discuss the benefits and drawbacks of low-range, far-range and hybrid sensing and reconstruction approaches. The proposed techniques for low-range and hybrid reconstruction, enabling the reconstruction density of 125 points/cm³ on large 100.000 m³ models, are presented in detail. The techniques tackle the core challenges for the above requirements, such as a multi-modal data fusion (fusion of a LIDAR data with a Kinect data), accurate sensor pose estimation, high-density scanning and depth data noise filtering. Other important aspects for extra large 3D indoor reconstruction are the point cloud decimation and real-time rendering. In this paper, we present a method for planar-based point cloud decimation, allowing for reduction of a point cloud size by 80-95%. Besides this, we introduce a method for online rendering of extra large point clouds enabling real-time visualization of huge cloud spaces in conventional web browsers.

Citation Download Citation

Egor Bondarev "On detailed 3D reconstruction of large indoor environments", Proc. SPIE 9399, Image Processing: Algorithms and Systems XIII, 93990G (16 March 2015); https://doi.org/10.1117/12.2085111

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