Research Progress on Robotics

This paper presents a triangulation-based hierarchical image matching method for wide-baseline images. The method includes the following three steps: (a) image orientation by incorporating the SIFT algorithm with the RANSAC approach, (b) feature matching based on the self-adaptive triangle constraint, which includes point-to-point matching and subsequent point-to-area matching, and (c) triangulation constrained dense matching based on the previous matched results. Two new constraints, the triangulation-based disparity constraint and triangulation-based gradient orientation constraint, are developed to alleviate the matching ambiguity for wide-baseline images. A triangulation based affine-adaptive cross-correlation is developed to help find correct matches even in the image regions with large perspective distortions. Experiments using Mars ground wide-baseline images and terrestrial wide-baseline images revealed that the proposed method is capable of generating reliable and dense matching results for terrain mapping and surface reconstruction from the wide-baseline images.

A Triangulation-based Hierarchical Image Matching Method for Wide-Baseline Images

Three dimensional reconstruction of ancient building using the theory of computer vision is one of the main ways to protect, promote and disseminate the value of ancient building. Due to there exist some shortcomings in the current digitization process of ancient building, such as large-scale scene reconstruction algorithm is complex and the accuracy is low, we present a three dimensional reconstruction approach to point cloud of ancient building based on multiple view images. The proposed approach uses an ordinary digital camera to capture multiple images of the ancient building to be reconstructed, takes advantage of affine decomposition principle to calculate the depth information of SIFT feature point on the ancient building with no damage and convenient operation. Through three dimensional reconstructing of the shape of the Tengwang Pavilion lying in Nanchang city, one of the three famous pavilions in the south of Yangtze River in China, to verify the validity of the proposed approach.

/pdf/research-on-three-dimensional-reconstruction-of-the-ancient-2lpkw3cdrx.pdf

Research on Three Dimensional Reconstruction of the Ancient Building Based on Images

A system and method for real time depth imaging is disclosed herein The method consists of capturing plurality of images through an input device placed on a rotating platform; transferring the captured images to an image processing device via a communication connection; rectification of successive captured images in common field of view of different positions without calibration of the input device by the image processing device; determination of error in extent of the rectification resulting on different pair of images by the image processing device; block matching of images to determine similarity between the image blocks by the image processing device; determination of disparity between the image blocks by the image processing device; estimation of real time depth of the image by the image processing device; and displaying the real time depth on an output device

A system and method for depth estimation

This study takes a chemical fiber factory’s spinning production line as the prototype to realize a three-dimensional virtual simulation system. Geometric three-dimensional models are constructed by exploiting the image-based three dimension reconstruction technology, in which Harris algorithm is utilized to detect corners of the modeling objects. 3DSMAX is used to give each model a highly imitative material, and deploy panoramic lighting. For virtual interaction, OGRE is utilized to realize the roaming and interaction of the virtual scene, thus finally completes a virtual simulation system for the spinning production line. Experimental results show that the system achieves a high degree of simulation of three-dimensional virtual scene and gives the user great sense of immersion, which meet the needs of virtual reality.

A Three-Dimensional Virtual Simulation System of Spinning Production Line

Due to the structured nature of indoor scenes, such as the perpendicularity, parallelism, collinearity, coplanarity, etc., accustomed by human being in their daily life, usually a small reconstruction error of indoor scene could bring up dramatic visual effects. As a result few practical image based large indoor reconstruction systems are reported in the literature to our knowledge. In this work, we report an automatic image-based crime-scene reconstruction system, which includes such units as image capturing platform calibration, image point and line matching and reconstruction as well as the fusion of partial results under multiple views. The main characteristics of our system are: fully automatic, no human interaction is needed; both structural and depth information is used in line matching and reconstruction to substantially increase the reconstruction quality; in the bundle adjustment, both lines and points are optimized simultaneously. Extensive experiments on real scene have validated our system.

/pdf/an-image-based-3d-reconstruction-system-for-large-indoor-1qfi41kyx3.pdf

An image based 3D reconstruction system for large indoor scenes

Automatic reconstruction of distant scenes from wide baseline images

Quasi-dense matching by neighborhood transfer for fish-eye images

3D reconstruction has a long history, few workable reconstruction systems are available although many magnificent theories and algorithms are reported in literature. In this paper, a 3D reconstruction system for indoor scenes with a rotating platform is reported, including its key components such as system calibration, feature matching and 3D reconstruction. Experimental results show that this system is not only convenient and flexible, but it can also obtain satisfactory reconstruction accuracy.

/pdf/a-3d-reconstruction-system-of-indoor-scenes-with-rotating-2o9jcr3tr3.pdf

A 3D Reconstruction System of Indoor Scenes with Rotating Platform

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An image based 3D reconstruction system for large indoor scenes

Automatic reconstruction of distant scenes from wide baseline images

Quasi-dense matching by neighborhood transfer for fish-eye images

A 3D Reconstruction System of Indoor Scenes with Rotating Platform