Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its simplicity of acquisition. Traditional image-based 3D reconstruction approaches heavily exploit point-to-point correspondence among multiple images to estimate camera motion and 3D geometry. Establishing point-to-point correspondence lies at the center of the 3D reconstruction pipeline, which however is easily prone to errors. In this paper, we propose an optimization framework which traces image points using a novel structure-guided dynamic tracking algorithm and estimates both the camera motion and a 3D structure model by enforcing a set of planar constraints. The key to our method is a structure model represented as a set of planes and their arrangements. Constraints derived from the structure model is used both in the correspondence establishment stage and the bundle adjustment stage in our reconstruction pipeline. Experiments show that our algorithm can effectively localize structure correspondence across dense image frames while faithfully reconstructing the camera motion and the underlying structured 3D model.
Mura et el. @cite_2 use clustered 3D range scans to create the structured 3D models of typical interior environments, namely of recognizing their structure of individual rooms and corridors.
@cite_2
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We are building a system that can automatically acquire 3D range scans and 2D images to build geometrically correct, texture mapped 3D models of urban environments. This paper deals with the problem of automatically registering the 3D range scans with images acquired at other times and with unknown camera calibration and location. The method involves the utilization of parallelism and orthogonality constraints that naturally exist in urban environments. We present results for building a texture mapped 3-D model of an urban building. We present a robust approach for reconstructing the main architectural structure of complex indoor environments given a set of cluttered 3D input range scans. Our method uses an efficient occlusion-aware process to extract planar patches as candidate walls, separating them from clutter and coping with missing data, and automatically extracts the individual rooms that compose the environment by applying a diffusion process on the space partitioning induced by the candidate walls. This diffusion process, which has a natural interpretation in terms of heat propagation, makes our method robust to artifacts and other imperfections that occur in typical scanned data of interiors. For each room, our algorithm reconstructs an accurate polyhedral model by applying methods from robust statistics. We demonstrate the validity of our approach by evaluating it on both synthetic models and real-world 3D scans of indoor environments. Graphical abstractDisplay Omitted HighlightsWe reconstruct an architectural model from a laser scanned indoor environment.Our algorithm can handle complex and highly concave room arrangements.It automatically detects all rooms without knowing the number of rooms in advance.Our pipeline can cope with occlusions and clutter using a robust heat diffusion process.An evaluation on artificial and real world data shows the accuracy of the method. Abstract In the Architecture, Engineering, and Construction (AEC) domain, semantically rich 3D information models are increasingly used throughout a facility's life cycle for diverse applications, such as planning renovations, space usage planning, and managing building maintenance. These models, which are known as building information models (BIMs), are often constructed using dense, three dimensional (3D) point measurements obtained from laser scanners. Laser scanners can rapidly capture the “as-is” conditions of a facility, which may differ significantly from the design drawings. Currently, the conversion from laser scan data to BIM is primarily a manual operation, and it is labor-intensive and can be error-prone. This paper presents a method to automatically convert the raw 3D point data from a laser scanner positioned at multiple locations throughout a facility into a compact, semantically rich information model. Our algorithm is capable of identifying and modeling the main visible structural components of an indoor environment (walls, floors, ceilings, windows, and doorways) despite the presence of significant clutter and occlusion, which occur frequently in natural indoor environments. Our method begins by extracting planar patches from a voxelized version of the input point cloud. The algorithm learns the unique features of different types of surfaces and the contextual relationships between them and uses this knowledge to automatically label patches as walls, ceilings, or floors. Then, we perform a detailed analysis of the recognized surfaces to locate openings, such as windows and doorways. This process uses visibility reasoning to fuse measurements from different scan locations and to identify occluded regions and holes in the surface. Next, we use a learning algorithm to intelligently estimate the shape of window and doorway openings even when partially occluded. Finally, occluded surface regions are filled in using a 3D inpainting algorithm. We evaluated the method on a large, highly cluttered data set of a building with forty separate rooms. We present a system to generate building information models (BIMs) of house interiors from 3D scans. The strength of our approach is its simplicity and low runtime which allows for mobile processing applications. We consider scans of single floor, Manhattan-like indoor scenes for which our method creates metric room layouts by detecting walls and performing a subsequent reasoning about their neighborhood relations. The output of our method is a 3D BIM with hierarchical semantic annotations for individual rooms being refined by walls, ceilings, floors and doors. A variety of experiments demonstrate the effectiveness of our approach. Our reconstruction results compare well to other state-of-art methods in both reconstruction quality as well as runtime.