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Proceedings ArticleDOI

Automatic reconstruction of piecewise planar models from multiple views

01 Jun 1999-Vol. 2, pp 2559-2565
TL;DR: The novelty of the approach lies in the use of inter-image homographies to validate and best estimate the plane, and in the minimal initialization requirements-only a single 3D line with a textured neighbourhood is required to generate a plane hypothesis.
Abstract: A new method is described for automatically reconstructing 3D planar faces from multiple images of a scene. The novelty of the approach lies in the use of inter-image homographies to validate and best estimate the plane, and in the minimal initialization requirements-only a single 3D line with a textured neighbourhood is required to generate a plane hypothesis. The planar facets enable line grouping and also the construction of parts of the wireframe which were missed due to the inevitable shortcomings of feature detection and matching. The method allows a piecewise planar model of a scene to be built completely automatically, with no user intervention at any stage, given only the images and camera projection matrices as input. The robustness and reliability of the method are illustrated on several examples, from both aerial and interior views.

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Citations
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01 Jan 2001
TL;DR: This book is referred to read because it is an inspiring book to give you more chance to get experiences and also thoughts and it will show the best book collections and completed collections.
Abstract: Downloading the book in this website lists can give you more advantages. It will show you the best book collections and completed collections. So many books can be found in this website. So, this is not only this multiple view geometry in computer vision. However, this book is referred to read because it is an inspiring book to give you more chance to get experiences and also thoughts. This is simple, read the soft file of the book and you get it.

14,282 citations

Journal ArticleDOI
TL;DR: The goal is to provide a survey that will help researchers to better position their own work in the context of existing solutions, and to help newcomers and practitioners in computer graphics to quickly gain an overview of this vast field.
Abstract: This paper provides a comprehensive overview of urban reconstruction. While there exists a considerable body of literature, this topic is still under active research. The work reviewed in this survey stems from the following three research communities: computer graphics, computer vision and photogrammetry and remote sensing. Our goal is to provide a survey that will help researchers to better position their own work in the context of existing solutions, and to help newcomers and practitioners in computer graphics to quickly gain an overview of this vast field. Further, we would like to bring the mentioned research communities to even more interdisciplinary work, since the reconstruction problem itself is by far not solved.

445 citations

Proceedings ArticleDOI
10 Nov 2003
TL;DR: Atlas is described, a hybrid metrical/topological approach to SLAM that achieves efficient mapping of large-scale environments using a graph of coordinate frames that captures the local environment and the current robot pose along with the uncertainties of each.
Abstract: This paper describes Atlas, a hybrid metrical/topological approach to SLAM that achieves efficient mapping of large-scale environments. The representation is a graph of coordinate frames, with each vertex in the graph representing a local frame, and each edge representing the transformation between adjacent frames. In each frame, we build a map that captures the local environment and the current robot pose along with the uncertainties of each. Each map's uncertainties are modeled with respect to its own frame. Probabilities of entities with respect to arbitrary frames are generated by following a path formed by the edges between adjacent frames, computed via Dijkstra's shortest path algorithm. Loop closing is achieved via an efficient map matching algorithm. We demonstrate the technique running in real-time in a large indoor structured environment (2.2 km path length) with multiple nested loops using laser or ultrasonic ranging sensors.

381 citations


Cites background from "Automatic reconstruction of piecewi..."

  • ...There is now a substantial corpus of knowledge in the elds of Simultaneous Localization and Mapping (SLAM) and Structure from Motion (SFM) for local, small-scale regions [Fau93, BZ99 , Thr01, PKVG00, WC00, Jen01]....

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Journal ArticleDOI
TL;DR: A number of automatic and semi-automatic reconstruction methods are reviewed in more detail in order to reveal their underlying principles and some general properties of reconstruction approaches which have evolved.

312 citations

Journal ArticleDOI
TL;DR: This work presents a novel and robust method for modeling cities from 3D-point data that provides a more complete description than existing approaches by reconstructing simultaneously buildings, trees and topologically complex grounds.
Abstract: We present a novel and robust method for modeling cities from 3D-point data. Our algorithm provides a more complete description than existing approaches by reconstructing simultaneously buildings, trees and topologically complex grounds. A major contribution of our work is the original way of modeling buildings which guarantees a high generalization level while having semantized and compact representations. Geometric 3D-primitives such as planes, cylinders, spheres or cones describe regular roof sections, and are combined with mesh-patches that represent irregular roof components. The various urban components interact through a non-convex energy minimization problem in which they are propagated under arrangement constraints over a planimetric map. Our approach is experimentally validated on complex buildings and large urban scenes of millions of points, and is compared to state-of-the-art methods.

305 citations


Cites background from "Automatic reconstruction of piecewi..."

  • ...A model for planar sections is presented by Baillard and Zisserman (1999) for simple houses....

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References
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Proceedings ArticleDOI
17 Jun 1997
TL;DR: The paper presents a new method for matching individual line segments between images that uses both grey-level information and the multiple view geometric relations between the images and eliminates all mismatches.
Abstract: The paper presents a new method for matching individual line segments between images. The method uses both grey-level information and the multiple view geometric relations between the images. For image pairs epipolar geometry facilitates the computation of a cross-correlation based matching score for putative line correspondences. For image triplets cross-correlation matching scores are used in conjunction with line transfer based on the trifocal geometry. Algorithms are developed for both short and long range motion. In the case of long range motion the algorithm involves evaluating a one parameter family of plane induced homographies. The algorithms are robust to deficiencies in the line segment extraction and partial occlusion. Experimental results are given for image pairs and triplets, for varying motions between views, and for different scene types. The three view algorithm eliminates all mismatches.

326 citations

Journal ArticleDOI
TL;DR: In this article, an approach for extracting the 3D shape of buildings from high-resolution Digital Elevation Models (DEMs), having a grid resolution between 0.5 and 5 m, is presented.
Abstract: This paper deals with an approach for extracting the 3D shape of buildings from high-resolution Digital Elevation Models (DEMs), having a grid resolution between 0.5 and 5 m. The steps of the proposed procedure increasingly use explicit domain knowledge, specifically geometric constraints in the form of parametric and prismatic building models. A new MDL-based approach generating a polygonal ground plan from segment boundaries is given. The used knowledge is object-related making adaption to data of different density and resolution simple and transparent.

305 citations

Proceedings ArticleDOI
01 Mar 1994
TL;DR: The vertical and horizontal attributions are used to constrain the set of possible building hypotheses, and vertical lines are extracted at corners to estimate structure height and permit the generation of three-dimensional building models from monocular views.
Abstract: Knowledge about the imaging geometry and acquisition parameters provides useful geometric constraints for the analysis and extraction of man-made features in aerial imagery, particularly in oblique views. We discuss the identification of horizontal and vertical lines in the scene, using image orientation information and vanishing point calculations, and the calculation of their dimensions. The vertical and horizontal attributions are used to constrain the set of possible building hypotheses, and vertical lines are extracted at corners to estimate structure height and permit the generation of three-dimensional building models from monocular views. Results of these techniques are presented for nadir and oblique imagery and evaluated against manually generated 3D ground truth building models. >

156 citations

Journal ArticleDOI
TL;DR: This work presents a new unified representation which will be useful when dealing with multiple views in the case of uncalibrated cameras, and shows how a special decomposition of a set of two or three general projection matrices, called canonic, enables us to build geometric descriptions for a system of cameras which are invariant with respect to a given group of transformations.

147 citations


"Automatic reconstruction of piecewi..." refers background in this paper

  • ...For example, if the projection matrices for the the first and th views are and respectively, and 3D points on the plane satisfy , where the plane is represented as a homogeneous 4-vector in the world frame, then [ 7 ]...

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Book ChapterDOI
15 Apr 1996
TL;DR: A hierarchical procedure is developed that effectively pools the information while keeping the combinatorics under control and of particular importance is the tight coupling of 2-D and 3-D analysis.
Abstract: We present a technique to extract complex suburban roofs from sets of aerial images. Because we combine 2-D edge information, photometric and chromatic attributes and 3-D information, we can deal with complex houses. Neither do we assume the roofs to be flat or rectilinear nor do we require parameterized building models. From only one image, 2-D edges and their corresponding attributes and relations are extracted. Using a segment stereo matching based on all available images, the 3-D location of these edges are computed. The 3-D segments are then grouped into planes and 2-D enclosures are extracted, thereby allowing to infer adjoining 3-D patches describing roofs of houses. To achieve this, we have developed a hierarchical procedure that effectively pools the information while keeping the combinatorics under control. Of particular importance is the tight coupling of 2-D and 3-D analysis.

140 citations