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Recursive Total Variation Filtering Based 3D Fusion

Rajput, Muhammad Asif Ali and Funk, E. and Börner, A. and Hellwich, O. (2016) Recursive Total Variation Filtering Based 3D Fusion. SIGMAP 2016, Portugal, Lisbon. DOI: 10.5220/0005967700720080

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Abstract

3D reconstruction from mobile image sensors is crucial for many offline-inspection and online robotic application. While several techniques are known today to deliver high accuracy 3D models from images via offline-processing, 3D reconstruction in real-time remains a major goal still to achieve. This work focuses on incremental 3D modeling from error prone depth image data, since standard 3D fusion techniques are tailored on accurate depth data from active sensors such as the Kinect. Imprecise depth data is usually provided by stereo camera sensors or simultaneous localization and mapping (SLAM) techniques. This work proposes an incremental extension of the total variation (TV) filtering technique, which is shown to reduce the errors of the reconstructed 3D model by up to 77% compared to state of the art techniques.

Item URL in elib:https://elib.dlr.de/109587/
Document Type:Conference or Workshop Item (Lecture)
Title:Recursive Total Variation Filtering Based 3D Fusion
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Rajput, Muhammad Asif Alimuhammad.rajput (at) dlr.deUNSPECIFIED
Funk, E.eugen.funk (at) dlr.deUNSPECIFIED
Börner, A.anko.boerner (at) dlr.deUNSPECIFIED
Hellwich, O.olaf.hellwich (at) tu-berlin.deUNSPECIFIED
Date:16 December 2016
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :10.5220/0005967700720080
Page Range:pp. 72-80
Status:Published
Keywords:Large Scale Automated 3D Modelling, Mobile Robotics, Efficient Data Structures, 3D Database.
Event Title:SIGMAP 2016
Event Location:Portugal, Lisbon
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Earth Observation
DLR - Research area:Raumfahrt
DLR - Program:R EO - Erdbeobachtung
DLR - Research theme (Project):R - Vorhaben Anwendungn Optik: 3-D, Datenfusion, optische Navigation (old)
Location: Berlin-Adlershof
Institutes and Institutions:Institute of Optical Sensor Systems > Information Processing for Optical Systems
Deposited By: Rajput, Muhammad Asif Ali (Admin.), Funktional
Deposited On:16 Dec 2016 10:05
Last Modified:01 Dec 2018 19:52

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