NDLI: Efficient Monocular 3D Reconstruction from Segments for Visual Navigation in Structured Environments

Content Provider	IEEE Xplore Digital Library
Author	Lopez-de-Teruel, P.E. Ruiz, A. Fernandez, L.
Copyright Year	2006
Description	Author affiliation: Fac. de Informatica, Univ. de Murcia (Lopez-de-Teruel, P.E.; Ruiz, A.; Fernandez, L.)
Abstract	We present an algorithm for performing real time 3D reconstructions of indoor scenes from a single image. The technique has been successfully used in indoor robot visual navigation applications. To solve the depth ambiguity inherent to the process of image formation, the procedure interprets the scene in terms of a set of vertical planes in arbitrary orientations (e.g. walls and doors) lying on a common horizontal plane (the floor). Interpretation is based on a zone classification algorithm that divides the image into a set of disjoint patches, each one belonging to a different plane. In order to make the reconstruction possible in real time, we use a very fast feature extraction algorithm based on robust extraction of the most salient segments of the scene, augmented with local color information. The extracted segments help in both the construction of the zone classification machine and the posterior 3D reconstruction, which is in turn based on a powerful single image projective geometry result
Sponsorship	IEEE CPS
Starting Page	143
Ending Page	146
File Size	332986
Page Count	4
File Format	PDF
ISBN	0769525210
ISSN	10514651
DOI	10.1109/ICPR.2006.477
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-08-20
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Image reconstruction Image segmentation Layout Data mining Robots Floors Classification algorithms Feature extraction Robustness
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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