Mission-time 3D Reconstruction with Quality Estimation
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F17%3APU126412" target="_blank" >RIV/00216305:26230/17:PU126412 - isvavai.cz</a>
Result on the web
<a href="https://www.fit.vut.cz/research/publication/11437/" target="_blank" >https://www.fit.vut.cz/research/publication/11437/</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/OCEANSE.2017.8084708" target="_blank" >10.1109/OCEANSE.2017.8084708</a>
Alternative languages
Result language
angličtina
Original language name
Mission-time 3D Reconstruction with Quality Estimation
Original language description
Accurate and detailed 3-dimensional (3D) models of the underwater environment are becoming increasingly important in modern marine surveys, since they convey immense information that can be easily interpreted. Techniques such as bundle adjustment (BA) and structure from motion (SfM), which jointly estimate sparse 3D points of the scene and camera poses, have gained popularity in underwater mapping applications. However, for large-area surveys these methods are computationally expensive and not intended for online application. This paper proposes an SfM pipeline based on solving the BA problem in an incremental and efficient way. Furthermore, the new system can provide not only the solution of the optimization (camera trajectory along time and the 3D points of the environment), but also the estimate of the uncertainty associated with the 3D reconstruction. This system is able to produce results in mission-time, i.e. while the robot is in the water or very shortly afterwards. Such quick availability is of great importance during survey operations as it allows data quality assessment in-situ, and eventual replanning of missions in case of need.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/TE01020415" target="_blank" >TE01020415: V3C - Visual Computing Competence Center</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of MTS/IEEE Oceans '17 Aberdeen
ISBN
978-1-880653-88-3
ISSN
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e-ISSN
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Number of pages
9
Pages from-to
1-9
Publisher name
Institute of Electrical and Electronics Engineers
Place of publication
Aberdeen
Event location
Aberdeen
Event date
Jun 19, 2017
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000426997000139