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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

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • 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

  • e-ISSN

  • 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