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CSE590 V : Mul-View Reconstruc-on Avanish Kushal

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CSE590 V : Mul--‐View Reconstruc-on

Avanish Kushal

Mul--‐View Reconstruc-on Preserving Weakly-‐Supported

Surfaces [CVPR 2011] Michael Jancosek Tomas Padjla

Mo-va-on

•  Reconstruct Surfaces that do not have support in the input 3d point cloud (low textured walls, windows)

Robust and Efficient surface reconstruc-on from range-‐data

[CGF-‐ 09] P. Labatut J. P. Pons

R. Keriven

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Problem Defini-on

•  Reconstruct a surface from a set of merged scans (noisy and outliers)

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Related Work

•  2 Primary Themes –  Implicit Surfaces (Poisson Surface Reconstruc-on)

– Delaunay Methods

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Algorithm

•  Perform a Delaunay Triangula-on/Tetrahedraliza-on of the 3d point cloud + cameras/sensors.

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Algorithm

•  Perform a Delaunay Triangula-on/Tetrahedraliza-on of the 3d point cloud + cameras/sensors.

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Algorithm

•  Construct a directed graph – Each tetrahedron is a vertex

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Algorithm

•  Construct a directed graph – Each tetrahedron is a vertex

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Algorithm

•  Construct a directed graph – Each tetrahedron is a vertex

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Algorithm

•  Find an s-‐t cutset of the directed graph – An addi-onal s & t vertex

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Algorithm

•  Find an s-‐t cutset of the directed graph – The s-‐t cutset gives the surface

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Formula-on

: Visibility Informa-on from points, cameras.

: Quality of reconstructed surface in terms of size of triangles.

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Surface Visibility

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Results

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Mul--‐View Reconstruc-on Preserving Weakly-‐Supported

Surfaces[CVPR 2011] Michael Jancosek Tomas Padjla

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Problem Defini-on

•  Reconstruct Surfaces that do not have support in the input 3d point cloud (low textured walls, windows)

Input Image Point Cloud Reconstructed Surface using CFG 09

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Weakly Supported Surfaces

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Key Claim

•  Large Jump in Free Space Support as we go from outside to inside.

•  Even true for weakly supported surfaces.

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Weakly Supported Surfaces

•  Ws = 9 ( 3 * 3)

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Weakly Supported Surfaces

•  Wt = 3 ( 1 * 3)

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Weakly Supported Surfaces

•  Ws > Wt -‐> creates wrong cut.

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Old t-‐weights

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Modified Weights

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Performance

DataSet/Method Baseline[CFG 09](mins) Ours(mins)

Castle 30 32

Dragon 90 94

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Results

INPUT IMAGE POINT CLOUD

CFG-‐09 OUR METHOD

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Results

INPUT IMAGE POINT CLOUD

CFG-‐09 OUR METHOD

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Results

INPUT IMAGE POINT CLOUD

CGF-‐09 OUR METHOD

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Discussion

•  How good is the claim about free space jumps ?

•  What should be the mul-plica-on term ?

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