Modeling and rendering architecture from photographs: a hybrid geometry- and image-based approach
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Monte Carlo localization: efficient position estimation for mobile robots
AAAI '99/IAAI '99 Proceedings of the sixteenth national conference on Artificial intelligence and the eleventh Innovative applications of artificial intelligence conference innovative applications of artificial intelligence
Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Photo tourism: exploring photo collections in 3D
ACM SIGGRAPH 2006 Papers
A Comparison and Evaluation of Multi-View Stereo Reconstruction Algorithms
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Detailed Real-Time Urban 3D Reconstruction from Video
International Journal of Computer Vision
Interactive 3D architectural modeling from unordered photo collections
ACM SIGGRAPH Asia 2008 papers
Pedestrian localisation for indoor environments
UbiComp '08 Proceedings of the 10th international conference on Ubiquitous computing
Parallel Tracking and Mapping for Small AR Workspaces
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
SurroundSense: mobile phone localization via ambience fingerprinting
Proceedings of the 15th annual international conference on Mobile computing and networking
International Journal of Robotics Research
Accurate, Dense, and Robust Multiview Stereopsis
IEEE Transactions on Pattern Analysis and Machine Intelligence
Place lab: device positioning using radio beacons in the wild
PERVASIVE'05 Proceedings of the Third international conference on Pervasive Computing
Self-mapping in 802.11 location systems
UbiComp'05 Proceedings of the 7th international conference on Ubiquitous Computing
Accurate GSM indoor localization
UbiComp'05 Proceedings of the 7th international conference on Ubiquitous Computing
PowerLine positioning: a practical sub-room-level indoor location system for domestic use
UbiComp'06 Proceedings of the 8th international conference on Ubiquitous Computing
RGB-D mapping: Using Kinect-style depth cameras for dense 3D modeling of indoor environments
International Journal of Robotics Research
An interactive approach to semantic modeling of indoor scenes with an RGBD camera
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Interactive environment-aware handheld projectors for pervasive computing spaces
Pervasive'12 Proceedings of the 10th international conference on Pervasive Computing
What next, ubicomp?: celebrating an intellectual disappearing act
Proceedings of the 2012 ACM Conference on Ubiquitous Computing
Walk&Sketch: create floor plans with an RGB-D camera
Proceedings of the 2012 ACM Conference on Ubiquitous Computing
Histogram of oriented normal vectors for object recognition with a depth sensor
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part II
An interactive system for set reconstruction from multiple input sources
Proceedings of the Symposium on Digital Production
Building up virtual environments using gestures
UAHCI'13 Proceedings of the 7th international conference on Universal Access in Human-Computer Interaction: applications and services for quality of life - Volume Part III
Automatic objects segmentation with RGB-D cameras
Journal of Visual Communication and Image Representation
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Detailed 3D visual models of indoor spaces, from walls and floors to objects and their configurations, can provide extensive knowledge about the environments as well as rich contextual information of people living therein. Vision-based 3D modeling has only seen limited success in applications, as it faces many technical challenges that only a few experts understand, let alone solve. In this work we utilize (Kinect style) consumer depth cameras to enable non-expert users to scan their personal spaces into 3D models. We build a prototype mobile system for 3D modeling that runs in real-time on a laptop, assisting and interacting with the user on-the-fly. Color and depth are jointly used to achieve robust 3D registration. The system offers online feedback and hints, tolerates human errors and alignment failures, and helps to obtain complete scene coverage. We show that our prototype system can both scan large environments (50 meters across) and at the same time preserve fine details (centimeter accuracy). The capability of detailed 3D modeling leads to many promising applications such as accurate 3D localization, measuring dimensions, and interactive visualization.