3D reconstruction system based on incremental structure from motion using a camera with varying parameters

2017 ◽  
Vol 34 (10) ◽  
pp. 1443-1460 ◽  
Author(s):  
Soulaiman El Hazzat ◽  
Mostafa Merras ◽  
Nabil El Akkad ◽  
Abderrahim Saaidi ◽  
Khalid Satori
Keyword(s):  
3D Reconstruction ◽  
Structure From Motion ◽  
Varying Parameters

scholarly journals Low-Cost and Efficient Indoor 3D Reconstruction Through Annotated Hierarchical Structure-from-Motion

2018 ◽  
Vol 11 (1) ◽  
pp. 58 ◽  
Author(s):  
Youli Ding ◽  
Xianwei Zheng ◽  
Yan Zhou ◽  
Hanjiang Xiong ◽  
and Jianya Gong
Keyword(s):  
3D Reconstruction ◽  
Hierarchical Structure ◽  
Structure From Motion ◽  
Low Cost ◽  
Semantic Annotation ◽  
Location Based Services ◽  
Procrustes Analysis ◽  
Support Vector ◽  
Widespread Application ◽  
Indoor Spaces

With the widespread application of location-based services, the appropriate representation of indoor spaces and efficient indoor 3D reconstruction have become essential tasks. Due to the complexity and closeness of indoor spaces, it is difficult to develop a versatile solution for large-scale indoor 3D scene reconstruction. In this paper, an annotated hierarchical Structure-from-Motion (SfM) method is proposed for low-cost and efficient indoor 3D reconstruction using unordered images collected with widely available smartphone or consumer-level cameras. Although the reconstruction of indoor models is often compromised by the indoor complexity, we make use of the availability of complex semantic objects to classify the scenes and construct a hierarchical scene tree to recover the indoor space. Starting with the semantic annotation of the images, images that share the same object were detected and classified utilizing visual words and the support vector machine (SVM) algorithm. The SfM method was then applied to hierarchically recover the atomic 3D point cloud model of each object, with the semantic information from the images attached. Finally, an improved random sample consensus (RANSAC) generalized Procrustes analysis (RGPA) method was employed to register and optimize the partial models into a complete indoor scene. The proposed approach incorporates image classification in the hierarchical SfM based indoor reconstruction task, which explores the semantic propagation from images to points. It also reduces the computational complexity of the traditional SfM by avoiding exhausting pair-wise image matching. The applicability and accuracy of the proposed method was verified on two different image datasets collected with smartphone and consumer cameras. The results demonstrate that the proposed method is able to efficiently and robustly produce semantically and geometrically correct indoor 3D point models.

Refraction-Based Bundle Adjustment for Scale Reconstructible Structure from Motion

2018 ◽  
Vol 30 (4) ◽  
pp. 660-670 ◽  
Author(s):  
Akira Shibata ◽  
Yukari Okumura ◽  
Hiromitsu Fujii ◽  
Atsushi Yamashita ◽  
Hajime Asama ◽  
...  
Keyword(s):  
3D Reconstruction ◽  
Structure From Motion ◽  
Error Function ◽  
Bundle Adjustment ◽  
Reconstruction Method ◽  
Actual Measurement ◽  
3D Measurements ◽  
Absolute Scale ◽  
The Absolute ◽  
Motion Method

Structure from motion is a three-dimensional (3D) reconstruction method that uses one camera. However, the absolute scale of objects cannot be reconstructed by the conventional structure from motion method. In our previous studies, to solve this problem by using refraction, we proposed a scale reconstructible structure from motion method. In our measurement system, a refractive plate is fixed in front of a camera and images are captured through this plate. To overcome the geometrical constraints, we derived an extended essential equation by theoretically considering the effect of refraction. By applying this formula to 3D measurements, the absolute scale of an object could be obtained. However, this method was verified only by a simulation under ideal conditions, for example, by not taking into account real phenomena such as noise or occlusion, which are necessarily caused in actual measurements. In this study, to robustly apply this method to an actual measurement with real images, we introduced a novel bundle adjustment method based on the refraction effect. This optimization technique can reduce the 3D reconstruction errors caused by measurement noise in actual scenes. In particular, we propose a new error function considering the effect of refraction. By minimizing the value of this error function, accurate 3D reconstruction results can be obtained. To evaluate the effectiveness of the proposed method, experiments using both simulations and real images were conducted. The results of the simulation show that the proposed method is theoretically accurate. The results of the experiments using real images show that the proposed method is effective for real 3D measurements.

CROWD-SOURCED VISUAL DATA COLLECTION FOR MONITORING INDOOR CONSTRUCTION IN 3D

2018 ◽  
Vol 5 (1) ◽  
Author(s):  
Fouad Amer ◽  
Mani Golparvar-Fard
Keyword(s):  
Data Collection ◽  
3D Reconstruction ◽  
Structure From Motion ◽  
Reconstruction Algorithm ◽  
Point Clouds ◽  
Reconstruction Method ◽  
Visual Data ◽  
Mapping Algorithm ◽  
3D Point Clouds ◽  
Localization And Mapping

Complete and accurate 3D monitoring of indoor construction progress using visual data is challenging. It requires (a) capturing a large number of overlapping images, which is time-consuming and labor-intensive to collect, and (b) processing using Structure from Motion (SfM) algorithms, which can be computationally expensive. To address these inefficiencies, this paper proposes a hybrid SfM-SLAM 3D reconstruction algorithm along with a decentralized data collection workflow to map indoor construction work locations in 3D and any desired frequency. The hybrid 3D reconstruction method is composed of a pipeline of Structure from Motion (SfM) coupled with Multi-View Stereo (MVS) to generate 3D point clouds and a SLAM (Simultaneous Localization and Mapping) algorithm to register the separately formed models together. Our SfM and SLAM pipelines are built on binary Oriented FAST and Rotated BRIEF (ORB) descriptors to tightly couple these two separate reconstruction workflows and enable fast computation. To elaborate the data capture workflow and validate the proposed method, a case study was conducted on a real-world construction site. Compared to state-of-the-art methods, our preliminary results show a decrease in both registration error and processing time, demonstrating the potential of using daily images captured by different trades coupled with weekly walkthrough videos captured by a field engineer for complete 3D visual monitoring of indoor construction operations.

scholarly journals GNSS/INS-Assisted Structure from Motion Strategies for UAV-Based Imagery over Mechanized Agricultural Fields

2020 ◽  
Vol 12 (3) ◽  
pp. 351 ◽  
Author(s):  
Seyyed Meghdad Hasheminasab ◽  
Tian Zhou ◽  
Ayman Habib
Keyword(s):  
3D Reconstruction ◽  
Structure From Motion ◽  
Point Clouds ◽  
Bundle Adjustment ◽  
Agricultural Fields ◽  
System Calibration ◽  
3D Point Clouds ◽  
Digital Agriculture ◽  
Orientation Parameters ◽  
Calibration Parameters

Acquired imagery by unmanned aerial vehicles (UAVs) has been widely used for three-dimensional (3D) reconstruction/modeling in various digital agriculture applications, such as phenotyping, crop monitoring, and yield prediction. 3D reconstruction from well-textured UAV-based images has matured and the user community has access to several commercial and opensource tools that provide accurate products at a high level of automation. However, in some applications, such as digital agriculture, due to repetitive image patterns, these approaches are not always able to produce reliable/complete products. The main limitation of these techniques is their inability to establish a sufficient number of correctly matched features among overlapping images, causing incomplete and/or inaccurate 3D reconstruction. This paper provides two structure from motion (SfM) strategies, which use trajectory information provided by an onboard survey-grade global navigation satellite system/inertial navigation system (GNSS/INS) and system calibration parameters. The main difference between the proposed strategies is that the first one—denoted as partially GNSS/INS-assisted SfM—implements the four stages of an automated triangulation procedure, namely, imaging matching, relative orientation parameters (ROPs) estimation, exterior orientation parameters (EOPs) recovery, and bundle adjustment (BA). The second strategy— denoted as fully GNSS/INS-assisted SfM—removes the EOPs estimation step while introducing a random sample consensus (RANSAC)-based strategy for removing matching outliers before the BA stage. Both strategies modify the image matching by restricting the search space for conjugate points. They also implement a linear procedure for ROPs’ refinement. Finally, they use the GNSS/INS information in modified collinearity equations for a simpler BA procedure that could be used for refining system calibration parameters. Eight datasets over six agricultural fields are used to evaluate the performance of the developed strategies. In comparison with a traditional SfM framework and Pix4D Mapper Pro, the proposed strategies are able to generate denser and more accurate 3D point clouds as well as orthophotos without any gaps.

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