A unified representation for application of architectural constraints in large-scale mapping
This paper is about discovering and leveraging architectural constraints in large scale 3D reconstructions using laser. Our contribution is to offer a formulation of the problem which naturally and in a unified way, captures the variety of architectural constraints that can be discovered and applied...
| Main Authors: | , , , |
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| Format: | Conference item |
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IEEE
2016
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| _version_ | 1797098959895789568 |
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| author | Amayo, P Piniés, P Paz, L Newman, P |
| author_facet | Amayo, P Piniés, P Paz, L Newman, P |
| author_sort | Amayo, P |
| collection | OXFORD |
| description | This paper is about discovering and leveraging architectural constraints in large scale 3D reconstructions using laser. Our contribution is to offer a formulation of the problem which naturally and in a unified way, captures the variety of architectural constraints that can be discovered and applied in urban reconstructions. We focus in particular on the case of survey construction with a push broom laser + VO system. Here visual odometry is combined with vertical 2D scans to create a 3D picture of the environment. A key characteristic here is that the sensors pass/sweep swiftly through the environment such that elements of the scene are seen only briefly by cameras and scanned just once by the laser. These qualities make for a an ill-constrained optimisation problem which is greatly aided if architectural constraints can be discovered and appropriately applied. We demonstrate our approach in an end-to-end implementation which discovers salient architectural constraints and rejects false loop closures before invoking an optimisation to return a 3D model of the workspace. We evaluate the precision of this model by comparison to a ground truth provided by a 3rd party professional survey using highend (static) 3D laser scanners. |
| first_indexed | 2024-03-07T05:16:59Z |
| format | Conference item |
| id | oxford-uuid:dd8a43bf-e469-41f8-90f2-2cf508a85b59 |
| institution | University of Oxford |
| last_indexed | 2024-03-07T05:16:59Z |
| publishDate | 2016 |
| publisher | IEEE |
| record_format | dspace |
| spelling | oxford-uuid:dd8a43bf-e469-41f8-90f2-2cf508a85b592022-03-27T09:25:47ZA unified representation for application of architectural constraints in large-scale mappingConference itemhttp://purl.org/coar/resource_type/c_5794uuid:dd8a43bf-e469-41f8-90f2-2cf508a85b59Symplectic Elements at OxfordIEEE2016Amayo, PPiniés, PPaz, LNewman, PThis paper is about discovering and leveraging architectural constraints in large scale 3D reconstructions using laser. Our contribution is to offer a formulation of the problem which naturally and in a unified way, captures the variety of architectural constraints that can be discovered and applied in urban reconstructions. We focus in particular on the case of survey construction with a push broom laser + VO system. Here visual odometry is combined with vertical 2D scans to create a 3D picture of the environment. A key characteristic here is that the sensors pass/sweep swiftly through the environment such that elements of the scene are seen only briefly by cameras and scanned just once by the laser. These qualities make for a an ill-constrained optimisation problem which is greatly aided if architectural constraints can be discovered and appropriately applied. We demonstrate our approach in an end-to-end implementation which discovers salient architectural constraints and rejects false loop closures before invoking an optimisation to return a 3D model of the workspace. We evaluate the precision of this model by comparison to a ground truth provided by a 3rd party professional survey using highend (static) 3D laser scanners. |
| spellingShingle | Amayo, P Piniés, P Paz, L Newman, P A unified representation for application of architectural constraints in large-scale mapping |
| title | A unified representation for application of architectural constraints in large-scale mapping |
| title_full | A unified representation for application of architectural constraints in large-scale mapping |
| title_fullStr | A unified representation for application of architectural constraints in large-scale mapping |
| title_full_unstemmed | A unified representation for application of architectural constraints in large-scale mapping |
| title_short | A unified representation for application of architectural constraints in large-scale mapping |
| title_sort | unified representation for application of architectural constraints in large scale mapping |
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