NDLI: A method of 3D model generation of indoor environment with Manhattan world assumption using 3D camera

Content Provider	IEEE Xplore Digital Library
Author	Yaguchi, H. Takaoka, Y. Yamamoto, T. Inaba, M.
Copyright Year	2013
Description	Author affiliation: Adv. Technol. Eng. Dept., Toyota Motor Corp., Toyota, Japan (Takaoka, Y.; Yamamoto, T.) \|\| Fac. of Creative Inf., Inf. Sci. & Technol., Univ. of Tokyo, Tokyo, Japan (Yaguchi, H.; Inaba, M.)
Abstract	In this paper, we propose a face set model generation method from 3D point clouds obtained from 3D camera for high-speed and light-weight storing and showing environment information in tele-operation task for robots. In the proposed method, following procedures run in parallel; 3 dominant orthogonal axis estimation and point cloud grouping by normal vectors based on the Manhattan - world assumption, fast registration using dominant axis grouped point cloud, plane position estimation for each dominant axis group, and face set generation by shape estimation for each plane. Experimental results shows that accuracy of plane position estimation is equivalent to measurement accuracy, registration takes about 0.1[s] for each frame, and storage size is reduced to about 10 - 20% from original 3D point cloud size. We also show some generated environment models as experimental results.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	759
Ending Page	765
File Size	1868618
Page Count	7
File Format	PDF
e-ISBN	9781479926251
DOI	10.1109/SII.2013.6776686
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-15
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three-dimensional displays Robot vision systems Estimation Cameras Vectors Face
Content Type	Text
Resource Type	Article

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