Incremental Surface Extraction from Sparse Structure-from-Motion Point Clouds
published: April 3, 2014, recorded: September 2013, views: 2661
Report a problem or upload filesIf you have found a problem with this lecture or would like to send us extra material, articles, exercises, etc., please use our ticket system to describe your request and upload the data.
Enter your e-mail into the 'Cc' field, and we will keep you updated with your request's status.
In this paper we propose a new method to incrementally extract a surface
from a consecutively growing Structure-from-Motion (SfM) point cloud
in real-time. Our method is based on a Delaunay triangulation (DT) on
the 3D points. The core idea is to robustly label all tetrahedra into freeand
occupied space using a random field formulation and to extract the
surface as the interface between differently labeled tetrahedra.
For this reason, we propose a new energy function that achieves the same accuracy as state-of-the-art methods but reduces the computational effort significantly. Furthermore, our new formulation allows us to extract the surface in an incremental manner, i. e. whenever the point cloud is updated we adapt our energy function. Instead of minimizing the updated energy with a standard graph cut, we employ the dynamic graph cut of Kohli et al.  which enables efficient minimization of a series of similar random fields by re-using the previous solution. In such a way we are able to extract the surface from an increasingly growing point cloud nearly independent of the overall scene size.
Link this pageWould you like to put a link to this lecture on your homepage?
Go ahead! Copy the HTML snippet !