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3D Modelling of Large and Narrow Indoor Spaces using Stereo Vision Aided Inertial Navigation and Semi-Global Matching

Wohlfeil, Jürgen and Grießbach, Denis and Baumbach, Dirk and Eugen, Funk and Ines, Ernst and Anko, Börner (2017) 3D Modelling of Large and Narrow Indoor Spaces using Stereo Vision Aided Inertial Navigation and Semi-Global Matching. In: Konferenzbandes Kultur und Informatik 2017, pp. 145-152. VWH. Kultur und Informatik 2017, 18.-19. Mai 2017, Berlin. ISBN 9783864881190

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Abstract

Digital modeling of cultural heritage is usually performed using expensive and heavy equipment (e.g. laser scanners) to achieve 3D models that are accurate and true to scale. In indoor environments the process of measurement can be very time consuming, especially when the object to be examined are large, narrow and labyrinthine, like caves, historical mines, and other underground structures, but also narrow buildings and town centers, ships, deep excavation, etc. In such cases it is almost impossible to generate a 3d model with laser scanners with justifiable effort. This is because of the huge number of scans that is necessary to resolve most of the occlusions and to achieve the measurement overlap that is necessary for the adjustment of the single measurements. An alternative approach is to take many photos and use the so called Structure from Motion (SfM) approach to generate the 3D model directly from the images, using a photogrammetric approach. As a first step towards 3D modelling from photos, the poses where the photos have been taken from have to be determined. Usually this is performed using the image information itself, as shown [Woh13]. But in narrow environments this essential step of the approach becomes critical because the image mosaic becomes unstable due to the few and loose connections between the images. Another problem is that the computational complexity of this step becomes insurmountably high for large objects.

Item URL in elib:https://elib.dlr.de/112457/
Document Type:Conference or Workshop Item (Speech)
Title:3D Modelling of Large and Narrow Indoor Spaces using Stereo Vision Aided Inertial Navigation and Semi-Global Matching
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Wohlfeil, Jürgenjuergen.wohlfeil (at) dlr.deUNSPECIFIED
Grießbach, Denisdenis.griessbach (at) dlr.deUNSPECIFIED
Baumbach, Dirkdirk.baumbach (at) dlr.deUNSPECIFIED
Eugen, Funkeugen.funk (at) dlr.deUNSPECIFIED
Ines, Ernstines.ernst (at) dlr.deUNSPECIFIED
Anko, Börneranko.boerner (at) dlr.deUNSPECIFIED
Date:18 May 2017
Journal or Publication Title:Konferenzbandes Kultur und Informatik 2017
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 145-152
Editors:
EditorsEmail
Busch, CarstenUNSPECIFIED
Kassung, ChristianUNSPECIFIED
Sieck, JürgenUNSPECIFIED
Publisher:VWH
ISBN:9783864881190
Status:Published
Keywords:Optical Navigation 3D
Event Title:Kultur und Informatik 2017
Event Location:Berlin
Event Type:international Conference
Event Dates:18.-19. Mai 2017
Organizer:HTW Berlin
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), R - Vorhaben Optische Technologien und Anwendungen
Location: Berlin-Adlershof
Institutes and Institutions:Institute of Optical Sensor Systems
Institute of Optical Sensor Systems > Information Processing for Optical Systems
Deposited By: Wohlfeil, Jürgen
Deposited On:29 May 2017 08:37
Last Modified:01 Dec 2018 19:52

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  • 3D Modelling of Large and Narrow Indoor Spaces using Stereo Vision Aided Inertial Navigation and Semi-Global Matching. (deposited 29 May 2017 08:37) [Currently Displayed]

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