RECONSTRUCTION OF INDOOR MODELS USING POINT CLOUDS GENERATED FROM SINGLE-LENS REFLEX CAMERAS AND DEPTH IMAGES

Fuan Tsai, Tzy Shyuan Wu, I. Chieh Lee, Huan Chang, Addison Y.S. Su

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

This paper presents a data acquisition system consisting of multiple RGB-D sensors and digital single-lens reflex (DSLR) cameras. A systematic data processing procedure for integrating these two kinds of devices to generate three-dimensional point clouds of indoor environments is also developed and described. In the developed system, DSLR cameras are used to bridge the Kinects and provide a more accurate ray intersection condition, which takes advantage of the higher resolution and image quality of the DSLR cameras. Structure from Motion (SFM) reconstruction is used to link and merge multiple Kinect point clouds and dense point clouds (from DSLR color images) to generate initial integrated point clouds. Then, bundle adjustment is used to resolve the exterior orientation (EO) of all images. Those exterior orientations are used as the initial values to combine these point clouds at each frame into the same coordinate system using Helmert (seven-parameter) transformation. Experimental results demonstrate that the design of the data acquisition system and the data processing procedure can generate dense and fully colored point clouds of indoor environments successfully even in featureless areas. The accuracy of the generated point clouds were evaluated by comparing the widths and heights of identified objects as well as coordinates of pre-set independent check points against in situ measurements. Based on the generated point clouds, complete and accurate three-dimensional models of indoor environments can be constructed effectively.

Original languageEnglish
Title of host publicationInternational Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
EditorsTakashi Fuse, M. Nakagawa
PublisherInternational Society for Photogrammetry and Remote Sensing
Pages99-102
Number of pages4
Edition4W5
ISBN (Electronic)9781629934297, 9781629935126, 9781629935201
DOIs
StatePublished - 11 May 2015
EventISPRS WG IV/7 and WG V/4 Joint Workshop on Indoor-Outdoor Seamless Modelling, Mapping and Navigation - Tokyo, Japan
Duration: 21 May 201522 May 2015

Publication series

NameInternational Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
Number4W5
Volume40
ISSN (Print)1682-1750

Conference

ConferenceISPRS WG IV/7 and WG V/4 Joint Workshop on Indoor-Outdoor Seamless Modelling, Mapping and Navigation
Country/TerritoryJapan
CityTokyo
Period21/05/1522/05/15

Keywords

  • Indoor modeling
  • Kinect
  • Point clouds
  • RGB-D
  • SFM reconstruction

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