A light-weight 3-D indoor acquisition system using an RGB-D camera
Abstract/Contents
- Abstract
- Large-scale acquisition of exterior urban environments is by now a well-established technology, supporting many applications in map searching, navigation, and commerce. The same, however, is not the case for indoor environments, where access is often restricted and space can be cluttered. Recent advances in real-time 3D acquisition devices (e.g., Microsoft Kinect) enable everyday users to scan complex indoor environments at a video rate. Raw scans, however, are often noisy, incomplete, and significantly corrupted, making semantic scene understanding challenging, if not impossible. In this dissertation, we present ways of utilizing prior information to understand the structure and semantics of indoor environments starting from noisy scans of real-time 3-D sensors. The presented pipelines are light-weight, and have the potential to allow users to incorporate feedback at interactive rates so as to improve the acquisition. We first present a hand-held system for real-time, interactive acquisition of residential floor plans. We then discuss how we exploit the fact that public environments typically contain a high density of repeated objects (e.g., tables, chairs, monitors, etc.) in regular or non-regular arrangements with significant pose variations and articulations. Last, we present a guided real-time scanning setup, wherein the incoming 3D data stream is continuously analyzed, and the data quality automatically assessed. Overall, the research presented in this talk presents significant advances on how low-quality 3-D scans can be effectively used to understand and acquire indoor environments, while allowing necessary user-interaction in real-time. We believe that user-captured 3D content will become a mainstream medium in the years to come.
Description
| Type of resource | text |
|---|---|
| Form | electronic; electronic resource; remote |
| Extent | 1 online resource. |
| Publication date | 2013 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Associated with | Kim, Young Min |
|---|---|
| Associated with | Stanford University, Department of Electrical Engineering. |
| Primary advisor | Guibas, Leonidas J |
| Thesis advisor | Guibas, Leonidas J |
| Thesis advisor | Girod, Bernd |
| Thesis advisor | Thrun, Sebastian, 1967- |
| Advisor | Girod, Bernd |
| Advisor | Thrun, Sebastian, 1967- |
Subjects
| Genre | Theses |
|---|
Bibliographic information
| Statement of responsibility | Young Min Kim. |
|---|---|
| Note | Submitted to the Department of Electrical Engineering. |
| Thesis | Thesis (Ph.D.)--Stanford University, 2013. |
| Location | electronic resource |
Access conditions
- Copyright
- © 2013 by Young Min Kim
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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