High quality 3D reconstruction of indoor environments using RGB-D sensors

Jun Wang, Shoudong Huang, Liang Zhao, Janet Ge, Sean He, Chengqi Zhang, Xiangyu Wang

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

6 Citations (Scopus)

Abstract

High-quality 3D reconstruction of large-scale indoor scene is the key to combine Simultaneous Localization And Mapping (SLAM) with other applications, such as building inspection and construction monitoring. However, the requirement of global consistency brings challenges to both localization and mapping. In particular, significant localization and mapping error can happen when standard SLAM techniques are used when dealing with the area of featureless walls and roofs. This paper proposed a novel framework aiming to reconstruct a high-quality, globally consistent 3D model for indoor environments using only a RGB-D sensor. We first introduce the sparse and dense feature constraints in the local bundle adjustment. Then, the planar constraints are incorporated in the global bundle adjustment. We fuse the point clouds in a truncated signed distance function volume, from which the high quality mesh can be extracted. Our framework leads to a comprehensive 3D scanning solution for indoor scene, enabling high-quality results and potential applications in building information system. The video of 3D models reconstructed by the method proposed in this paper is available at https://youtu.be/DWMP4YfeNeY.

Original languageEnglish
Title of host publicationProceedings of the 2017 12th IEEE Conference on Industrial Electronics and Applications, ICIEA 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1739-1744
Number of pages6
ISBN (Electronic)9781538621035
DOIs
Publication statusPublished - 5 Feb 2018
Externally publishedYes
Event12th IEEE Conference on Industrial Electronics and Applications, ICIEA 2017 - Siem Reap, Cambodia
Duration: 18 Jun 201720 Jun 2017

Publication series

NameProceedings of the 2017 12th IEEE Conference on Industrial Electronics and Applications, ICIEA 2017
Volume2018-February

Conference

Conference12th IEEE Conference on Industrial Electronics and Applications, ICIEA 2017
Country/TerritoryCambodia
CitySiem Reap
Period18/06/1720/06/17

ASJC Scopus subject areas

  • Control and Optimization
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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