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Delaunay triangulation based sparse 3D reconstruction of indoor scenes using a monocular camera

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dc.contributor.advisor Dailey, Matthew N. (Chairperson) en_US
dc.contributor.author Bukhari, Faisal en_US
dc.date.accessioned 2015-01-12T10:38:40Z
dc.date.available 2015-01-12T10:38:40Z
dc.date.issued 2009-05 en_US
dc.identifier.other AIT RSPR no.CS-09-05 en_US
dc.identifier.uri http://www.cs.ait.ac.th/xmlui/handle/123456789/149
dc.description 47 p. en_US
dc.description.abstract The role of robots is increasing in our daily life. They can wash dishes, explore un- known terrain, perform security tasks, assist surgeons in patients' operations, perform surveillance and many more. Human beings gather information about the terrain using eyes and motion of the body. In other words, they see the world in 3D and accumulate information about the structure of the world. In order to approximate some of the capabilities of human beings in robots, we need the ability to create 3D models of the scene, so that robots can navigate smoothly. This technology could be utilized by armed forces, in order to understand the structure of a collapsed building to locate positions of terrorists, or by rescue robots, for example, to understand the structure of a building to locate survivors. In this research study, I make a 3D model of an indoor scene using structure from motion. My method is based on sparse points from a pair of images. My 3D model is based on 2D Delaunay triangulation. I choose this triangulation, because it gives maximum weight to the least angle of all the angles in a triangle. This triangulation usually avoid skinny triangles and is thus most suitable for mapping image texture to a 3D mesh. I render the 3D model using OpenGL. en_US
dc.description.sponsorship Higher Education Commission (HEC), Pakistan - AIT Fellowship en_US
dc.language.iso en en_US
dc.publisher Asian Institute of Technology en_US
dc.relation.ispartofseries AIT Publications; en_US
dc.subject Monocular en_US
dc.subject Robot vision en_US
dc.subject Three-dimensional imaging en_US
dc.subject Computer vision en_US
dc.title Delaunay triangulation based sparse 3D reconstruction of indoor scenes using a monocular camera en_US
dc.type Research Report en_US


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