Gemsketch: Interactive Image-Guided Geometry Extraction from Point Clouds
Gemsketch: Interactive Image-Guided Geometry Extraction from Point Clouds
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DOI：
10.1109/icra.2018.8460532
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发表时间：
2018-05
期刊：
影响因子：
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通讯作者：
M. Maghoumi;J. Laviola;Karthik Desingh;O. C. Jenkins
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文献类型：
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作者：
M. Maghoumi;J. Laviola;Karthik Desingh;O. C. Jenkins
我们引入了一种交互式系统，用于从单视点或多视点云中提取广义圆柱体和长方体的几何形状。我们提出的方法很直观，只需要用户跟踪对象的轮廓。利用用户对物体外观的感知理解，我们提出的方法能够提取准确的模型，即使存在遮挡、杂乱或不完整的点云数据，同时保留原始物体的细节和比例。我们通过在公共 RGB-D 数据集上进行的一组实验证明了我们提出的方法的优点。我们使用每个对象最多两个视图从数据集中提取 16 个对象。我们提取的模型与原始对象具有高度的视觉相似性。此外，当将提取的模型与数据集的基本事实进行比较时，我们实现了 5.66% 的平均归一化豪斯多夫距离。
We introduce an interactive system for extracting the geometries of generalized cylinders and cuboids from single-or multiple-view point clouds. Our proposed method is intuitive and only requires the object's silhouettes to be traced by the user. Leveraging the user's perceptual understanding of what an object looks like, our proposed method is capable of extracting accurate models, even in the presence of occlusion, clutter or incomplete point cloud data, while preserving the original object's details and scale. We demonstrate the merits of our proposed method through a set of experiments on a public RGB-D dataset. We extracted 16 objects from the dataset using at most two views of each object. Our extracted models represent a high degree of visual similarity to the original objects. Further, we achieved a mean normalized Hausdorff distance of 5.66% when comparing our extracted models with the dataset's ground truths.