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首页> 外文会议>International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology;ECTI-CON 2009 >Rapid 3D visualization of indoor scenes using 3D occupancy grid isosurfaces
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Rapid 3D visualization of indoor scenes using 3D occupancy grid isosurfaces

机译：使用3D占用栅格等值面对室内场景进行快速3D可视化

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摘要

In many mobile robotics applications involving exploration of unknown environments, it would be extremely useful to provide human operators with a real-time 3D visualization of the environment the robot is exploring. Although a great deal of progress has been made in the separate fields of photorealistic structure from motion and realtime vision-based robot localization and mapping (SLAM), the ultimate goal of real-time 3D visualization of the environment a robot is exploring has yet to be realized. In this paper, we present a simple and efficient incremental algorithm for 3D modeling amenable to realtime implementation. The algorithm creates a texture-mapped polygonal mesh model of the environment from a monocular video feed or sequence of images. The key to the algorithm's simplicity and efficiency is the use of the isosurface of a coarse 3D occupancy grid that is incrementally updated as new images arrive. The isosurface-based reconstruction provides low metric accuracy but helps to filter measurement noise and allows rapid construction of a 3D visualization. We demonstrate the practicality and effectiveness of the algorithm by using it to generate an OpenGL model of a real indoor environment.
机译：在涉及探索未知环境的许多移动机器人应用中，为操作员提供机器人正在探索的环境的实时3D可视化将非常有用。尽管从基于运动和基于实时视觉的机器人本地化和制图（SLAM）的照片拟真的结构的各个领域中已经取得了很大的进步，但机器人正在探索的环境的实时3D可视化的最终目标尚未实现。被实现。在本文中，我们提出了一种适用于实时实施的简单有效的3D建模增量算法。该算法根据单眼视频输入或图像序列创建环境的纹理映射多边形网格模型。该算法的简单性和效率的关键是使用粗糙的3D占用栅格的等值面，该栅格随着新图像的到来而逐渐更新。基于等值面的重建提供较低的度量精度，但有助于过滤测量噪声并允许快速构建3D可视化。通过使用该算法生成真实室内环境的OpenGL模型，我们证明了该算法的实用性和有效性。

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