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Indoor surface model estimation and visualization using monocular camera

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dc.contributor.advisor Dailey, Matthew N. (Chairperson) en_US
dc.contributor.author Zask, Ran en_US
dc.date.accessioned 2015-01-12T10:40:56Z
dc.date.available 2015-01-12T10:40:56Z
dc.date.issued 2008-12 en_US
dc.identifier.other AIT Thesis no.CS-08-16 en_US
dc.identifier.uri http://www.cs.ait.ac.th/xmlui/handle/123456789/360
dc.description 60 p. en_US
dc.description.abstract In recent years, mobile robot implementations have been based more on sophisticated computer vision techniques rather than \pure" electronics. Nowadays, robots can clean the swimming pool, mow the grass and even clean the carpets at home. In many mo- bile robot applications involving exploration of unknown environments, it would be extremely useful be able to obtain an accurate surface model as well as to provide human operators with a real-time 3D visualization of the environment the robot is exploring. Although a great deal of progress has been made in the separate elds of photorealistic structure from motion and real-time vision-based robot localization and mapping (SLAM), the ultimate goal of real-time 3D visualization of the robot's environ- ment has yet to be realized. This thesis aims to improve the robot's \understanding" of the environment and to provide the human operator, with the means for acquiring and maintaining situation awareness as easy and quickly as possible. I propose a simple and e cient incremental algorithm for 3D modeling amenable to real-time implementation. The algorithm creates a polygonal mesh model of the environment from a monocular video feed or sequence of images. The key to the algorithms simplicity and e ciency is the use of the isosurface of a coarse 3D occupancy grid that is incrementally up- dated as new images arrive. The isosurface-based scene reconstruction provides low metric accuracy but helps to lter measurement noise and allows rapid construction of a 3D visualization. I demonstrate the practicality and e ectiveness of the algorithm by visualizing wire frame models and generating an OpenGL model of a real indoor environment. 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 Monoculars en_US
dc.subject Visualization en_US
dc.title Indoor surface model estimation and visualization using monocular camera en_US
dc.type Thesis en_US


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