elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Portable 3-D Modeling using Visual Pose Tracking

Strobl, Klaus H. and Mair, Elmar and Bodenmüller, Tim and Kielhöfer, Simon and Wüsthoff, Tilo and Suppa, Michael (2018) Portable 3-D Modeling using Visual Pose Tracking. Computers in Industry, 99, 53- 68. Elsevier. DOI: 10.1016/j.compind.2018.03.009 ISSN 0166-3615

[img] PDF (Preprint)
7MB

Official URL: https://www.sciencedirect.com/science/article/pii/S0166361517304827

Abstract

This work deals with the passive tracking of the pose of a close-range 3-D modeling device using its own high-rate images in realtime, concurrently with customary 3-D modeling of the scene. This novel development makes it possible to abandon using inconvenient, expensive external trackers, achieving a portable and inexpensive solution. The approach comprises efficient tracking of natural features following the Active Matching paradigm, a frugal use of interleaved feature-based stereo triangulation, visual odometry using the robustified V-GPS algorithm, graph optimization by local bundle adjustment, appearance-based relocalization using a bank of parallel three-point-perspective pose solvers on SURF features, and online reconstruction of the scene in the form of textured triangle meshes to provide visual feedback to the user. Ideally, objects are completely digitized by browsing around the scene; in the event of closing the motion loop, a hybrid graph optimization takes place, which delivers highly accurate motion history to refine the whole 3-D model within a second. The method has been implemented on the DLR 3D-Modeler; demonstrations and abundant video material validate the approach. These types of low-cost systems have the potential to enhance traditional 3-D modeling and conquer new markets owing to their mobility, passivity, and accuracy.

Item URL in elib:https://elib.dlr.de/119694/
Document Type:Article
Title:Portable 3-D Modeling using Visual Pose Tracking
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Strobl, Klaus H.klaus.strobl (at) dlr.deUNSPECIFIED
Mair, ElmarUNSPECIFIEDUNSPECIFIED
Bodenmüller, TimTim.Bodenmueller (at) dlr.deUNSPECIFIED
Kielhöfer, SimonUNSPECIFIEDUNSPECIFIED
Wüsthoff, Tilotilo.wuesthoff (at) dlr.deUNSPECIFIED
Suppa, MichaelUNSPECIFIEDUNSPECIFIED
Date:August 2018
Journal or Publication Title:Computers in Industry
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:99
DOI :10.1016/j.compind.2018.03.009
Page Range:53- 68
Editors:
EditorsEmail
Grabot, BernardUNSPECIFIED
Publisher:Elsevier
Series Name:Elsevier Science
ISSN:0166-3615
Status:Published
Keywords:3-D modeling, Pose tracking, SLAM, Visual odometry
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben E3D: Algorithmen und Applikation, R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Strobl, Klaus
Deposited On:10 Sep 2018 13:38
Last Modified:31 Jul 2019 20:17

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.