3D environment capture from monocular video and inertial data

R. Robert Clark; Michael H. Lin; Colin J. Taylor

doi:10.1117/12.650805

23 February 2006 3D environment capture from monocular video and inertial data

R. Robert Clark, Michael H. Lin, Colin J. Taylor

Proceedings Volume 6056, Three-Dimensional Image Capture and Applications VII; 60560G (2006) https://doi.org/10.1117/12.650805
Event: Electronic Imaging 2006, 2006, San Jose, California, United States

Abstract

This paper presents experimental methods and results for 3D environment reconstruction from monocular video augmented with inertial data. One application targets sparsely furnished room interiors, using high quality handheld video with a normal field of view, and linear accelerations and angular velocities from an attached inertial measurement unit. A second application targets natural terrain with manmade structures, using heavily compressed aerial video with a narrow field of view, and position and orientation data from the aircraft navigation system. In both applications, the translational and rotational offsets between the camera and inertial reference frames are initially unknown, and only a small fraction of the scene is visible in any one video frame. We start by estimating sparse structure and motion from 2D feature tracks using a Kalman filter and/or repeated, partial bundle adjustments requiring bounded time per video frame. The first application additionally incorporates a weak assumption of bounding perpendicular planes to minimize a tendency of the motion estimation to drift, while the second application requires tight integration of the navigational data to alleviate the poor conditioning caused by the narrow field of view. This is followed by dense structure recovery via graph-cut-based multi-view stereo, meshing, and optional mesh simplification. Finally, input images are texture-mapped onto the 3D surface for rendering. We show sample results from multiple, novel viewpoints.

Citation Download Citation

R. Robert Clark, Michael H. Lin, and Colin J. Taylor "3D environment capture from monocular video and inertial data", Proc. SPIE 6056, Three-Dimensional Image Capture and Applications VII, 60560G (23 February 2006); https://doi.org/10.1117/12.650805

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available