Approximate nearest neighbor queries in fixed dimensions
SODA '93 Proceedings of the fourth annual ACM-SIAM Symposium on Discrete algorithms
MLESAC: a new robust estimator with application to estimating image geometry
Computer Vision and Image Understanding - Special issue on robusst statistical techniques in image understanding
The digital Michelangelo project: 3D scanning of large statues
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Proceedings of the sixth ACM symposium on Solid modeling and applications
Efficient simplification of point-sampled surfaces
Proceedings of the conference on Visualization '02
A Fast and Efficient Projection-Based Approach for Surface Reconstruction
SIBGRAPI '02 Proceedings of the 15th Brazilian Symposium on Computer Graphics and Image Processing
Tight cocone: a water-tight surface reconstructor
SM '03 Proceedings of the eighth ACM symposium on Solid modeling and applications
Triangulating point set surfaces with bounded error
SGP '05 Proceedings of the third Eurographics symposium on Geometry processing
Towards 3D Point cloud based object maps for household environments
Robotics and Autonomous Systems
On normals and projection operators for surfaces defined by point sets
SPBG'04 Proceedings of the First Eurographics conference on Point-Based Graphics
Probabilistic categorization of kitchen objects in table settings with a composite sensor
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Model-based and learned semantic object labeling in 3D point cloud maps of kitchen environments
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Combined 2D-3D categorization and classification for multimodal perception systems
International Journal of Robotics Research
Online semantic mapping of urban environments
SC'12 Proceedings of the 2012 international conference on Spatial Cognition VIII
Re-identification with RGB-D sensors
ECCV'12 Proceedings of the 12th international conference on Computer Vision - Volume Part I
An evolutionary optimization method for parameter search in 3d points cloud reconstruction
ICIC'13 Proceedings of the 9th international conference on Intelligent Computing Theories
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In this paper we present a method for fast surface reconstruction from large noisy datasets. Given an unorganized 3D point cloud, our algorithm recreates the underlying surface's geometrical properties using data resampling and a robust triangulation algorithm in near realtime. For resulting smooth surfaces, the data is resampled with variable densities according to previously estimated surface curvatures. Incremental scans are easily incorporated into an existing surface mesh, by determining the respective overlapping area and reconstructing only the updated part of the surface mesh. The proposed framework is flexible enough to be integrated with additional point label information, where groups of points sharing the same label are clustered together and can be reconstructed separately, thus allowing fast updates via triangular mesh decoupling. To validate our approach, we present results obtained from laser scans acquired in both indoor and outdoor environments.