The Wägele: Aquisition of 3D-Models of large indoor and outdoor environments with a mobile platform

Peter Biber (Lab homepage) and Sven Fleck

 

Platform (The Wägele)

Summary

Efficient and comfortable acquisition of large 3D scenes is an important topic for many current and future applications like cultural heritage, web applications and 3DTV and therefore it is a hot research topic. Currently we are building a new mobile 3D model acquisition platform. The platform uses 2D laser range scanners for both self localization by scan matching and geometry acquisition and a digital panorama camera. 3D models are acquired just by moving the platform around. Thereby, geometry is acquired continuously and color images are taken in regular intervals. After matching,the geometry is represented as unstructured point cloud which can then be rendered in several ways, for example using splatting with view dependent texturing.

Publications

Survey paper:

Peter Biber, Sven Fleck, Wolfgang Strasser: A mobile platform for acquisition of 3D-models of large environments – The Wägele, submitted. pdf

Workshop paper:

Peter Biber, Sven Fleck, MichaelWand, Dirk Staneker,Wolfgang Straßer: FIRST EXPERIENCES WITH A MOBILE PLATFORM FOR FLEXIBLE 3D MODEL ACQUISITION IN INDOOR AND OUTDOOR ENVIRONMENTS – THE WÄGELE,  3D-ARCH'2005: 3D Virtual Reconstruction and Visualization of Complex Architectures, 22-24 August, 2005, Mestre-Venice, Italy. pdf

Outdoor Run Videos (New!)

Video (IV5) (DivX) from a run outside of our institute. Unfortunately, the batteries ran out so that the loop could not be closed.

Video (IV5) (DivX) where the model from the outdoor run has been integrated with a digital elevation model and an aerial image. The model nicely fits in!

 

Videos

Building a 2D-map (28 MB)

Textured Point Cloud in scanner resolution (29 MB)

Point Cloud in Omni Image Resolution (12 MB)

Older Videos

Here are videos of a pointcloud (25MB) and a pointcloud textured by a single panoramic image (85MB):

 

 

Here is a video (8 MB) of a splatted pointcloud (thanks to Michael Wand). Due to some memory problems the resolution is approx. 1/10 of maximum resolution.

2006 by Peter Biber