AN INTEGRATED MULTI-SENSORY SYSTEM FOR PHOTO-REALISTIC 3D SCENE RECONSTRUCTION
AN INTEGRATED MULTI-SENSORY SYSTEM FOR PHOTO-REALISTIC 3D SCENE RECONSTRUCTION
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发表时间：
1998
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通讯作者：
K. Ng;V. Sequeira;S. Butterfield;D. Hogg;J. Gonçalves
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作者：
K. Ng;V. Sequeira;S. Butterfield;D. Hogg;J. Gonçalves
在本文中，我们描述了一个综合的方法来构建纹理的三维场景模型，从激光测距数据和视觉图像。这种方法已经在一系列算法和传感器中实现，在被称为AEST（远程呈现自主环境传感器）的3D重建原型设备中-一个携带扫描激光测距仪和摄像机的自主移动的平台。AEST旨在通过在捕获范围数据和视频图像的位置之间自动导航，完全自动化从建筑物内部创建模型。嵌入式软件执行多个功能，包括距离数据的三角测量和视频纹理的配准，从不同捕获点获取的数据的配准和整合，以及这些捕获点的最佳选择，确保以所需的分辨率获取所有表面的距离数据和视频纹理。后一种功能是该方法的主要新奇。我们描述的AEST的主要组成部分，并提出从原型获得的初步结果。最终的模型，包括纹理映射信息，编码在VRML格式。然后可以通过万维网使用适当的浏览器访问模型。潜在的应用包括建筑行业的设施管理和虚拟现实的一般领域，例如，虚拟工作室，用于内容相关应用的虚拟现实（例如，CD-ROM）、社会远程呈现、建筑和其他。
In this paper, we describe an integrated approach to the construction of textured 3D scene models from laser range data and visual images. This approach has been realised in a collection of algorithms and sensors, within a prototype device for 3D reconstruction known as the AEST (Autonomous Environmental Sensor for Telepresence) -- an autonomous mobile platform carrying a scanning laser range finder and video camera. The AEST is intended to fully automate the creation of models from building interiors by navigating automatically between positions at which range data and video images are captured. Embedded software performs several functions, including triangulation of the range data and registration of video texture, registration and integration of data acquired from different capture points, and optimal selection of these capture points, ensuring that range data and video texture is acquired for all surfaces at the required resolution. This latter function is a principal novelty in the approach. We describe the major components of the AEST and present preliminary results obtained from the prototype. The final model, including texture mapping information, is encoded in VRML format. It is then possible to access the model via the World Wide Web, with an appropriate browser. Potential applications include facilities management for the construction industry and within the general area of virtual reality, for example, virtual studios, virtualised reality for content-related applications (e.g., CD-ROMs), social tele-presence, architecture and others.