scholarly journals Fast and Automatic Reconstruction of Semantically Rich 3D Indoor Maps from Low-quality RGB-D Sequences

Sensors ◽  
2019 ◽  
Vol 19 (3) ◽  
pp. 533 ◽  
Author(s):  
Shengjun Tang ◽  
Yunjie Zhang ◽  
You Li ◽  
Zhilu Yuan ◽  
Yankun Wang ◽  
...  
Keyword(s):  
Global Optimization ◽  
Functional Space ◽  
Point Clouds ◽  
Noise Robustness ◽  
Optimization Approach ◽  
Indoor Environments ◽  
Cloud Data ◽  
Space Division ◽  
Building Models ◽  
Real World Datasets

Semantically rich indoor models are increasingly used throughout a facility’s life cycle for different applications. With the decreasing price of 3D sensors, it is convenient to acquire point cloud data from consumer-level scanners. However, most existing methods in 3D indoor reconstruction from point clouds involve a tedious manual or interactive process due to line-of-sight occlusions and complex space structures. Using the multiple types of data obtained by RGB-D devices, this paper proposes a fast and automatic method for reconstructing semantically rich indoor 3D building models from low-quality RGB-D sequences. Our method is capable of identifying and modelling the main structural components of indoor environments such as space, wall, floor, ceilings, windows, and doors from the RGB-D datasets. The method includes space division and extraction, opening extraction, and global optimization. For space division and extraction, rather than distinguishing room spaces based on the detected wall planes, we interactively define the start-stop position for each functional space (e.g., room, corridor, kitchen) during scanning. Then, an interior elements filtering algorithm is proposed for wall component extraction and a boundary generation algorithm is used for space layout determination. For opening extraction, we propose a new noise robustness method based on the properties of convex hull, octrees structure, Euclidean clusters and the camera trajectory for opening generation, which is inapplicable to the data collected in the indoor environments due to inevitable occlusion. A global optimization approach for planes is designed to eliminate the inconsistency of planes sharing the same global plane, and maintain plausible connectivity between the walls and the relationships between the walls and openings. The final model is stored according to the CityGML3.0 standard. Our approach allows for the robust generation of semantically rich 3D indoor models and has strong applicability and reconstruction power for complex real-world datasets.

scholarly journals Fast and Robust Flight Altitude Estimation of Multirotor UAVs in Dynamic Unstructured Environments Using 3D Point Cloud Sensors

Aerospace ◽  
2018 ◽  
Vol 5 (3) ◽  
pp. 94 ◽  
Author(s):  
Hriday Bavle ◽  
Jose Sanchez-Lopez ◽  
Paloma Puente ◽  
Alejandro Rodriguez-Ramos ◽  
Carlos Sampedro ◽  
...  
Keyword(s):  
Point Cloud ◽  
Point Clouds ◽  
Estimation Algorithm ◽  
Indoor Environments ◽  
3D Point Cloud ◽  
Flight Altitude ◽  
Cloud Data ◽  
3D Point Clouds ◽  
Laser Altimeters ◽  
Altitude Estimation

This paper presents a fast and robust approach for estimating the flight altitude of multirotor Unmanned Aerial Vehicles (UAVs) using 3D point cloud sensors in cluttered, unstructured, and dynamic indoor environments. The objective is to present a flight altitude estimation algorithm, replacing the conventional sensors such as laser altimeters, barometers, or accelerometers, which have several limitations when used individually. Our proposed algorithm includes two stages: in the first stage, a fast clustering of the measured 3D point cloud data is performed, along with the segmentation of the clustered data into horizontal planes. In the second stage, these segmented horizontal planes are mapped based on the vertical distance with respect to the point cloud sensor frame of reference, in order to provide a robust flight altitude estimation even in presence of several static as well as dynamic ground obstacles. We validate our approach using the IROS 2011 Kinect dataset available in the literature, estimating the altitude of the RGB-D camera using the provided 3D point clouds. We further validate our approach using a point cloud sensor on board a UAV, by means of several autonomous real flights, closing its altitude control loop using the flight altitude estimated by our proposed method, in presence of several different static as well as dynamic ground obstacles. In addition, the implementation of our approach has been integrated in our open-source software framework for aerial robotics called Aerostack.

scholarly journals ROOF RECONSTRUCTION FROM AIRBORNE LASER SCANNING DATA BASED ON IMAGE PROCESSING METHODS

2016 ◽  
Vol III-3 ◽  
pp. 407-414 ◽  
Author(s):  
S. Goebbels ◽  
R. Pohle-Fröhlich
Keyword(s):  
Image Processing ◽  
Laser Scanning ◽  
Point Clouds ◽  
Airborne Laser Scanning ◽  
Data Driven ◽  
Processing Methods ◽  
Cloud Data ◽  
Applied Model ◽  
Airborne Laser ◽  
Building Models

The paper presents a new data-driven approach to generate CityGML building models from airborne laser scanning data. The approach is based on image processing methods applied to an interpolated height map and avoids shortcomings of established methods for plane detection like Hough transform or RANSAC algorithms on point clouds. The improvement originates in an interpolation algorithm that generates a height map from sparse point cloud data by preserving ridge lines and step edges of roofs. Roof planes then are detected by clustering the height map’s gradient angles, parameterizations of planes are estimated and used to filter out noise around ridge lines. On that basis, a raster representation of roof facets is generated. Then roof polygons are determined from region outlines, connected to a roof boundary graph, and simplified. Whereas the method is not limited to churches, the method’s performance is primarily tested for church roofs of the German city of Krefeld because of their complexity. To eliminate inaccuracies of spires, contours of towers are detected additionally, and spires are rendered as solids of revolution. In our experiments, the new data-driven method lead to significantly better building models than the previously applied model-driven approach.

scholarly journals GEOMETRICAL NETWORK MODEL GENERATION USING POINT CLOUD DATA FOR INDOOR NAVIGATION

2018 ◽  
Vol IV-4 ◽  
pp. 141-146 ◽  
Author(s):  
M. Nakagawa ◽  
R. Nozaki
Keyword(s):  
Network Model ◽  
Point Cloud ◽  
Optimal Path ◽  
Three Dimensional ◽  
Point Clouds ◽  
Indoor Navigation ◽  
Model Generation ◽  
Indoor Environments ◽  
Point Cloud Data ◽  
Cloud Data

<p><strong>Abstract.</strong> Three-dimensional indoor navigation requires various functions, such as the shortest path retrieval, obstacle avoidance, and secure path retrieval, for optimal path finding using a geometrical network model. Although the geometrical network model can be prepared manually, the model should be automatically generated using images and point clouds to represent changing indoor environments. Thus, we propose a methodology for generating a geometrical network model for indoor navigation using point clouds through object classification, navigable area estimation, and navigable path estimation. Our proposed methodology was evaluated through experiments using the benchmark of the International Society for Photogrammetry and Remote Sensing for indoor modeling. In our experiments, we confirmed that our methodology can generate a geometrical network model automatically.</p>

scholarly journals THE ISPRS BENCHMARK ON INDOOR MODELLING

2017 ◽  
Vol XLII-2/W7 ◽  
pp. 367-372 ◽  
Author(s):  
K. Khoshelham ◽  
L. Díaz Vilariño ◽  
M. Peter ◽  
Z. Kang ◽  
D. Acharya
Keyword(s):  
Evaluation Criteria ◽  
Point Clouds ◽  
Performance Comparison ◽  
Benchmark Dataset ◽  
Evaluation Framework ◽  
Indoor Environments ◽  
Cloud Data ◽  
Automated Generation ◽  
Benchmark Datasets ◽  
Modelling Methods

Automated generation of 3D indoor models from point cloud data has been a topic of intensive research in recent years. While results on various datasets have been reported in literature, a comparison of the performance of different methods has not been possible due to the lack of benchmark datasets and a common evaluation framework. The ISPRS benchmark on indoor modelling aims to address this issue by providing a public benchmark dataset and an evaluation framework for performance comparison of indoor modelling methods. In this paper, we present the benchmark dataset comprising several point clouds of indoor environments captured by different sensors. We also discuss the evaluation and comparison of indoor modelling methods based on manually created reference models and appropriate quality evaluation criteria. The benchmark dataset is available for download at: <a href="http://www2.isprs.org/commissions/comm4/wg5/benchmark-on-indoor-modelling.html"target="_blank">http://www2.isprs.org/commissions/comm4/wg5/benchmark-on-indoor-modelling.html</a>.

scholarly journals Integration of Image Data for Refining Building Boundaries Derived from Point Clouds

2014 ◽  
Vol XL-3 ◽  
pp. 253-258 ◽  
Author(s):  
S. N. Perera ◽  
N. Hetti Arachchige ◽  
D. Schneider
Keyword(s):  
Laser Scanning ◽  
High Reliability ◽  
Image Data ◽  
Point Clouds ◽  
Aerial Photographs ◽  
Building Roof ◽  
Cloud Data ◽  
Building Models ◽  
3D Cadastre ◽  
Accurate Position

Geometrically and topologically correct 3D building models are required to satisfy with new demands such as 3D cadastre, map updating, and decision making. More attention on building reconstruction has been paid using Airborne Laser Scanning (ALS) point cloud data. The planimetric accuracy of roof outlines, including step-edges is questionable in building models derived from only point clouds. This paper presents a new approach for the detection of accurate building boundaries by merging point clouds acquired by ALS and aerial photographs. It comprises two major parts: reconstruction of initial roof models from point clouds only, and refinement of their boundaries. A shortest closed circle (graph) analysis method is employed to generate building models in the first step. Having the advantages of high reliability, this method provides reconstruction without prior knowledge of primitive building types even when complex height jumps and various types of building roof are available. The accurate position of boundaries of the initial models is determined by the integration of the edges extracted from aerial photographs. In this process, scene constraints defined based on the initial roof models are introduced as the initial roof models are representing explicit unambiguous geometries about the scene. Experiments were conducted using the ISPRS benchmark test data. Based on test results, we show that the proposed approach can reconstruct 3D building models with higher geometrical (planimetry and vertical) and topological accuracy.

scholarly journals TRANSFER LEARNING FOR INDOOR OBJECT CLASSIFICATION: FROM IMAGES TO POINT CLOUDS

2020 ◽  
Vol V-4-2020 ◽  
pp. 65-70
Author(s):  
J. Balado ◽  
L. Díaz-Vilariño ◽  
E. Verbree ◽  
P. Arias
Keyword(s):  
Point Cloud ◽  
Laser Scanning ◽  
Point Clouds ◽  
Indoor Environments ◽  
Vector Data ◽  
Training Set ◽  
Network Training ◽  
Building Models ◽  
Great Relevance ◽  
Online Sources

Abstract. Indoor furniture is of great relevance to building occupants in everyday life. Furniture occupies space in the building, gives comfort, establishes order in rooms and locates services and activities. Furniture is not always static; the rooms can be reorganized according to the needs. Keeping the building models up to date with the current furniture is key to work with indoor environments. Laser scanning technology can acquire indoor environments in a fast and precise way, and recent artificial intelligence techniques can classify correctly the objects that contain. The objective of this work is to study how to minimize the use of point cloud samples in Neural Network training, tedious to label, and replace them with images obtained from online sources. For this, point clouds are converted to images by means of rotations and projections. The conversion of a 3D vector data to a 2D raster allows the use of Convolutional Neural Networks, the achievement of several images for each acquired point cloud object and the combination with images obtained from online sources, such as Google Images. The images have been distributed among the validation and testing training sets following different percentages. The results show that, although point cloud images cannot be completely dispensed within the training set, only 10% of these achieve high accuracy in the classification.

scholarly journals Topologically Consistent Reconstruction for Complex Indoor Structures from Point Clouds

2021 ◽  
Vol 13 (19) ◽  
pp. 3844
Author(s):  
Mengchi Ai ◽  
Zhixin Li ◽  
Jie Shan
Keyword(s):  
Structural Model ◽  
Point Clouds ◽  
Uniform Density ◽  
Indoor Environments ◽  
Structural Constraints ◽  
Complex Environments ◽  
Input Point ◽  
Reconstruction Quality ◽  
Real World Datasets

Indoor structures are composed of ceilings, walls and floors that need to be modeled for a variety of applications. This paper proposes an approach to reconstructing models of indoor structures in complex environments. First, semantic pre-processing, including segmentation and occlusion construction, is applied to segment the input point clouds to generate semantic patches of structural primitives with uniform density. Then, a primitives extraction method with detected boundary is introduced to approximate both the mathematical surface and the boundary of the patches. Finally, a constraint-based model reconstruction is applied to achieve the final topologically consistent structural model. Under this framework, both the geometric and structural constraints are considered in a holistic manner to assure topologic regularity. Experiments were carried out with both synthetic and real-world datasets. The accuracy of the proposed method achieved an overall reconstruction quality of approximately 4.60 cm of root mean square error (RMSE) and 94.10% Intersection over Union (IoU) of the input point cloud. The development can be applied for structural reconstruction of various complex indoor environments.

scholarly journals ROOF RECONSTRUCTION FROM AIRBORNE LASER SCANNING DATA BASED ON IMAGE PROCESSING METHODS

2016 ◽  
Vol III-3 ◽  
pp. 407-414
Author(s):  
S. Goebbels ◽  
R. Pohle-Fröhlich
Keyword(s):  
Image Processing ◽  
Laser Scanning ◽  
Point Clouds ◽  
Airborne Laser Scanning ◽  
Data Driven ◽  
Processing Methods ◽  
Cloud Data ◽  
Applied Model ◽  
Airborne Laser ◽  
Building Models

The paper presents a new data-driven approach to generate CityGML building models from airborne laser scanning data. The approach is based on image processing methods applied to an interpolated height map and avoids shortcomings of established methods for plane detection like Hough transform or RANSAC algorithms on point clouds. The improvement originates in an interpolation algorithm that generates a height map from sparse point cloud data by preserving ridge lines and step edges of roofs. Roof planes then are detected by clustering the height map’s gradient angles, parameterizations of planes are estimated and used to filter out noise around ridge lines. On that basis, a raster representation of roof facets is generated. Then roof polygons are determined from region outlines, connected to a roof boundary graph, and simplified. Whereas the method is not limited to churches, the method’s performance is primarily tested for church roofs of the German city of Krefeld because of their complexity. To eliminate inaccuracies of spires, contours of towers are detected additionally, and spires are rendered as solids of revolution. In our experiments, the new data-driven method lead to significantly better building models than the previously applied model-driven approach.

scholarly journals STOCHASTIC AND GEOMETRIC REASONING FOR INDOOR BUILDING MODELS WITH ELECTRIC INSTALLATIONS – BRIDGING THE GAP BETWEEN GIS AND BIM

2017 ◽  
Vol IV-4/W5 ◽  
pp. 33-39
Author(s):  
Y. Dehbi ◽  
J.-H. Haunert ◽  
L. Plümer
Keyword(s):  
Graphical Models ◽  
Building Design ◽  
Point Clouds ◽  
Linear Constraints ◽  
Indoor Environments ◽  
3D Point Clouds ◽  
Building Models ◽  
Information Models ◽  
Building Information ◽  
Building Information Models

3D city and building models according to CityGML encode the geometry, represent the structure and model semantically relevant building parts such as doors, windows and balconies. Building information models support the building design, construction and the facility management. In contrast to CityGML, they include also objects which cannot be observed from the outside. The three dimensional indoor models characterize a missing link between both worlds. Their derivation, however, is expensive. The semantic automatic interpretation of 3D point clouds of indoor environments is a methodically demanding task. The data acquisition is costly and difficult. The laser scanners and image-based methods require the access to every room. Based on an approach which does not require an additional geometry acquisition of building indoors, we propose an attempt for filling the gaps between 3D building models and building information models. Based on sparse observations such as the building footprint and room areas, 3D indoor models are generated using combinatorial and stochastic reasoning. The derived models are expanded by a-priori not observable structures such as electric installation. Gaussian mixtures, linear and bi-linear constraints are used to represent the background knowledge and structural regularities. The derivation of hypothesised models is performed by stochastic reasoning using graphical models, Gauss-Markov models and MAP-estimators.

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