Title: Complex and Photo-realistic Scene Representation Based on Range Planar Segmentation and Model Fusion
Citation: INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH vol. 30 no. 10 p. 1263-1283
Publication Year: 2011
JRC N°: JRC64912
ISSN: 0278-3649
URI: http://ijr.sagepub.com/content/30/10/1263
DOI: 10.1177/0278364911410754
Type: Articles in periodicals and books
Abstract: We present an efficient 3D scene representation method from a set of 3D range scans captured from a large-scale indoor or outdoor scene based on range planar segmentation and model fusion. In our method, range images are partitioned into planar patches and non-planar regions. We firstly partition the range image into a set of rectangle blocks and fit a planar patch to all points of each block. Blocks that are not successfully fitted as planar patches, are iteratively partitioned into sub-blocks until reaching a minimum size. Secondly, we iteratively merge the planar patches and identify unclassified rectangle blocks or points. The segmentation is then refined by relabelling the boundary points of fitted planar patches with respect to the neighbouring planar patches. We further simplify the scene model representation by fusing range scans and welding neighbouring planar patches with clean straight boundaries. An efficient texture mapping approach is proposed to automatically map the reflectance/colour images onto the fused scene model composed of a set of planar patches. Finally we successfully demonstrate the performance of our algorithms on several challenging range data sets.
JRC Directorate:Nuclear Safety and Security

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