Mission-time 3D Reconstruction with Quality Estimation

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Mission-time 3D Reconstruction with Quality Estimation

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Mission-time 3D Reconstruction with Quality Estimation

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/TE01020415" target="_blank" >TE01020415: Centrum kompetence ve zpracování vizuálních informací (V3C - Visual Computing Competence Center)</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of MTS/IEEE Oceans '17 Aberdeen

ISBN

978-1-880653-88-3

ISSN

—

e-ISSN

—

Počet stran výsledku

9

Strana od-do

1-9

Název nakladatele

Institute of Electrical and Electronics Engineers

Místo vydání

Aberdeen

Místo konání akce

Aberdeen

Datum konání akce

19. 6. 2017

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000426997000139