wherecamp navigation conference 2015 - 3d rapid mapping on mobile devices
TRANSCRIPT
27 November 2015
3D Rapid Mapping on Mobile Devices
Clemens Havas, Jakob Miksch, Nikolai Janakiev, Muhammad Salman, Bernd Resch & Thomas Blaschke
WhereCamp 2015
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Clemens Havas 27 November 2015
� Processing Structure from Motion on standard smartphones in real time
� Navigate through a building by simply taking pictures of the rooms
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Overview :: Intention
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� Smartphone takes pictures
� Comparison with database (server)
� Delivers location
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Chadly Marouane et al. “Visual Positioning Systems - An Extension to MoVIPS". In: 5th International Conference on Indoor Positioning and Indoor Navigation (IPIN 2014) 2014, pp. 1-10. Martin Werner, Moritz Kessel, and Chadly Marouane. “Indoor positioning using smartphone camera". In: Indoor Positioning and Indoor Navigation (IPIN), 2011 International Conference on IEEE. 2011, pp. 1-6.
Related Work :: Indoor Positioning
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� Real time
� 3D model generation
� Processing completely on the smartphone
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Peter Ondruska, Pushmeet Kohli, and Shahram Izadi. “MobileFusion: Real-time Volumetric Surface Reconstruction and Dense Tracking On Mobile Phones". In: International Symposium on Mixed and Augmented Reality (ISMAR). Fukuoka, Japan, 2015
Related Work :: Mobile Fusion
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Images
Structure from Motion
Point Cloud Processing
Visualisation
( Fingerprinting + Indoor Positioning)
Overview :: Workflow
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Name Open Source Lib./Soft. Support
Theia Yes Library University Project
Point Cloud Library Yes Library Companies
LIBVISO2 (No) Library University Project
OpenMVG Yes Library University Project
Aerial Vision Group No Software University Project
aSPECT 3D No Software Company
Depth Image Processing
Yes Library University Project
Visual SFM No Software University Project
SfM :: Finding the best Library/Software
Other criteria
Dependencies
Input/Output
Documentation
API
Features
Performance
Support
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� Written in C++
� Collection of tiny open source libraries
� Complete SfM Pipeline
� Incremental and Global Pipeline
� Support by the author: Pierre Moulon
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https://openmvg.readthedocs.org/en/latest/
SfM :: OpenMVG
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� OpenMVG just for Linux and Windows � How to build OpenMVG for Android? � Usage of C++11 Standard: Not fully compatible with
Android � Many external libraries (Eigen, Ceres-Solver,
Cereal,...)
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SfM :: Challenges
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� Solved the stated challenges and succeded in making OpenMVG usable for Android
� Successfully performed parts of the SfM Pipeline
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SfM :: Results
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� Taking several different areas of a room and test the functionalities of OpenMVG
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Computation :: Test OpenMVG
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Computation :: Global SfM Pipeline
http://www.theia-sfm.org/sfm.html#global-sfm-pipeline
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Normal High
Computation :: Settings
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Ultra
Computation :: Settings
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� Finding the best parameters for the resolution and the number of images
� Point cloud generation with a “windowing” method with overlap to reduce duration of computation
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Computation :: Best Parameters
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Computation :: Time vs Points
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Computation :: Different Resolutions
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� One combined app (SfM, Visualisation)
� Point cloud merging and reduction
� Fingerprinting algorithm
¾ Indoor Positioning
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Conclusion :: Future Work
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� Best point cloud reduction algorithm?
� Fingerprinting algorithm for indoor navigation?
� SURF better solution for SfM?
� Increase algorithm performance?
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Conclusion :: Open Questions