Incremental Line-based 3D Reconstruction using Geometric Constraints

Höfer, Michael; Wendel, Andreas; Bischof, Horst

doi:10.5244/c.27.92

Cited by 21 publications

(28 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…As a quantitative evaluation we used the synthetic Timberframe 1 dataset from [6], since there is a groundtruth CAD model available. Figure 2 shows our result in comparison to related state-of-the-art methods [2,3,6]. As can be seen, our proposed method achieves more accurate results than a previous incremental approach [3] (RMSE 0.095 vs. 0.196), while the runtime is not largely increased (6.9 vs. 5.7 min).…”

Section: Resultsmentioning

confidence: 84%

“…Figure 2 shows our result in comparison to related state-of-the-art methods [2,3,6]. As can be seen, our proposed method achieves more accurate results than a previous incremental approach [3] (RMSE 0.095 vs. 0.196), while the runtime is not largely increased (6.9 vs. 5.7 min). That is off course due to the non-greedy nature of our approach and the incorporation of collinearity information.…”

Section: Resultsmentioning

confidence: 84%

See 1 more Smart Citation

Semi-Global 3D Line Modeling for Incremental Structure-from-Motion

Höfer

Donoser

Bischof

2014

Proceedings of the British Machine Vision Conference 2014

Self Cite

View full text Add to dashboard Cite

MotivationRecovering 3D information from a single moving camera is a widely studied field in the area of computer vision (e.g. [1]). Most of these Structurefrom-Motion (SfM) approaches are based on so-called interest points (e.g. corners) in images, which can be accurately matched using powerful descriptors like SIFT [7]. Hence the output is usually a sparse 3D point cloud along with the camera poses for all successfully integrated images. While previous methods were only able to perform pose estimation and 3D reconstruction in an offline way, there are now more and more incremental SfM approaches available (e.g. [4]).Since conventional SfM approaches are based on interest points, the distribution of the obtained 3D points is usually not uniform throughout the whole reconstruction. This is due to the fact that such interest points are usually located on highly textured areas, but not on homogeneous regions or along edges. Since the result of SfM pipelines is often used as basis to generate a more dense result or for localization and navigation tasks, it would be beneficial to generate additional complementary 3D information in an efficient way. From a SfM point of view, using line segments is especially interesting for urban and indoor environments, where linear structures frequently occur. While interest points are located mostly on richly textured image locations, line segments usually mark the boundaries of objects. Hence, incorporating such features in an online SfM pipeline to create 3D line segments naturally leads to a more complete 3D representation of the underlying scene, which is beneficial for all kinds of subsequent applications.We propose a novel approach which generates 3D line models in a semi-global way directly on-the-fly, based solely on the output of a conventional incremental SfM pipeline. The goal of our method is to generate additional complementary 3D information to improve the sparse 3D representation of the scene. In this approach, we consider the SfM pipeline as a black box and do not interfere with the pose estimation procedure. We show that 3D line reconstructions can be obtained very efficiently by using purely geometric constraints, or by additionally incorporating appearance and collinearity information. Our approach enables accurate 3D reconstruction of texture-less as well as textured man-made objects, including complex structures such as wiry objects. Figure 1 shows a reconstruction result obtained by an incremental SfM system [4], followed by a surface generation method [5], with and without the usage of additional 3D line segments obtained by our proposed method. As we can see, additional 3D information significantly improves the completeness and overall appearance of the resulting reconstructions. For more technical details, we kindly refer to the full paper. ResultsTo demonstrate the capabilities of our proposed algorithm, we performed several quantitative and qualitative experimental evaluations. As a quantitative evaluation we used the synthetic Timberframe 1 dataset fro...

show abstract

Section: Resultsmentioning

confidence: 84%

Section: Resultsmentioning

confidence: 84%

Semi-Global 3D Line Modeling for Incremental Structure-from-Motion

Höfer

Donoser

Bischof

2014

Proceedings of the British Machine Vision Conference 2014

Self Cite

View full text Add to dashboard Cite

show abstract

“…[7]), or because the vast majority of line matching approaches are not able to handle the real challenging cases, such as wiry objects. Nevertheless, a few methods which are capable of handling such objects as well have been presented recently [15,13,12,11].…”

Section: Related Workmentioning

confidence: 99%

Improving Sparse 3D Models for Man-Made Environments Using Line-Based 3D Reconstruction

Höfer

Maurer

Bischof

2014

2014 2nd International Conference on 3D Vision

Self Cite

View full text Add to dashboard Cite

Traditional Structure-from-Motion (SfM) approaches work well for richly textured scenes with a high number of distinctive feature points. Since man-made environments often contain textureless objects, the resulting point cloud suffers from a low density in corresponding scene parts. The missing 3D information heavily affects all kinds of subsequent post-processing tasks (e.g. meshing), and significantly decreases the visual appearance of the resulting 3D model. We propose a novel 3D reconstruction approach, which uses the output of conventional SfM pipelines to generate additional complementary 3D information, by exploiting line segments. We use appearance-less epipolar guided line matching to create a potentially large set of 3D line hypotheses, which are then verified using a global graph clustering procedure. We show that our proposed method outperforms the current state-of-the-art in terms of runtime and accuracy, as well as visual appearance of the resulting reconstructions.

show abstract

“…This may be due to a variety of reasons. In the case of lines, there are many scenes where it is difficult to establish correspondences based on appearance, for example in highly repetitive manmade scenes or where low-width structures are present [16]. Furthermore, feature appearance can vary dramatically between 3D and its 2D projection due to the non-linear nature of the transformation; a 3D feature may be projected from a large range of viewpoints and perspective distortion may occur.…”

Section: Introductionmentioning

confidence: 99%

Globally Optimal 2D-3D Registration from Points or Lines without Correspondences

Brown

Windridge

Guillemaut

2015

2015 IEEE International Conference on Computer Vision (ICCV)

View full text Add to dashboard Cite

An open access repository of Middlesex University research http://eprints.mdx.ac.uk Brown, Mark and Windridge, David and Guillemaut, Jean-Yves (2015) Globally optimal 2D-3D registration from points or lines without correspondences. Copyright and moral rights to this thesis/research project are retained by the author and/or other copyright owners. The work is supplied on the understanding that any use for commercial gain is strictly forbidden. A copy may be downloaded for personal, non-commercial, research or study without prior permission and without charge. Any use of the thesis/research project for private study or research must be properly acknowledged with reference to the work's full bibliographic details.This thesis/research project may not be reproduced in any format or medium, or extensive quotations taken from it, or its content changed in any way, without first obtaining permission in writing from the copyright holder(s).If you believe that any material held in the repository infringes copyright law, please contact the Repository Team at Middlesex University via the following email address:eprints@mdx.ac.ukThe item will be removed from the repository while any claim is being investigated. Globally Optimal 2D-3D Registration from Points or Lines Without Correspondences

show abstract

Incremental Line-based 3D Reconstruction using Geometric Constraints

Cited by 21 publications

References 15 publications

Semi-Global 3D Line Modeling for Incremental Structure-from-Motion

Semi-Global 3D Line Modeling for Incremental Structure-from-Motion

Improving Sparse 3D Models for Man-Made Environments Using Line-Based 3D Reconstruction

Globally Optimal 2D-3D Registration from Points or Lines without Correspondences

Contact Info

Product

Resources

About