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Omnidirectional 3D Modeling using Graph Cuts |
Sven Fleck (1), Florian Busch (1), Peter Biber (1), Henrik Andreasson (2), Wolfgang Straßer (1)
(1) University of Tübingen, WSI/GRIS
(2) Örebro University, Dept. of Technology
For a mobile robot it is a natural task to build a 3D model of its
environment. Such a model is not only useful for planning robot
actions but also to provide a remote human surveillant a realistic
visualization of the robot’s state with respect to the environment.
Acquiring 3D models of environments is also an important task on its
own with many possible applications like creating virtual
interactive walkthroughs or as basis for 3D-TV. In this paper we
present our method to acquire a 3D model using a mobile robot that
is equipped with a laser scanner and a
panoramic camera. The method is based on calculating dense depth
maps for panoramic images using pairs of panoramic images taken from
different positions using stereo matching. Traditional 2D-SLAM using
laser-scan-matching is used to determine the needed camera poses. To
receive high-quality results we use a high-quality stereo matching
algorithm – the graph cut method. We describe the necessary
modifications to handle panoramic images and specialized
post-processing methods.
The following data flow is used:
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Our final map:
Images:
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 Source Image |
Graph cut. |
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Sub-disparity refinement |
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Sub-disparity refinement and epipolar line removal |
No postprocessing applied yet. |
Final image. |
 Pointcloud of 1 image set |
 Final point cloud. |
 Rendered under a different viewing angle. |
Point Clouds Download:
Links to other projects at WSI/GRIS:
A
Smart Camera Approach to Real-Time Tracking
Wägele Platform for 3D Model Acquisition
Wall-based 3D modeling on a mobile robot
