ModelCamera
Real-Time Modeling from Dense Color and Sparse Depth
Summary
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The ModelCamera is a fast, easy to use, and inexpensive 3D scene modeling system. The ModelCamera acquires dense color (720x480 video frames) augmented with sparse depth (7x7 to 11x11 depth samples). The frames are registered and merged into an evolving model at the rate of five frames per second. The model is displayed continually to provide immediate operator feedback.
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Structured scenes (e.g. large pieces of
furniture, walls, ceiling, and floor) are acquired freehand. The
operator holds the ModelCamera in his/her hand and sweeps the
scene. The frames are registered using the depth and color data.
Registered frames are merged into a set of depth images created
on demand.
Freehand ModelCamera prototype consists of a video camera
and a laser source whose beam is split in a 7x7 pattern
with a diffraction grating. Total cost $2,000. |
Real-time freehand modeling with operator feedback. |
Depth image placement shown with green dots (left) and
depth image modeling (right). |
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Unstructured scenes are acquired using a
parallax-free pan-tilt bracket. Frames are stitched together using
color to form a cube map. The depth samples are projected onto the
cube map and triangulated in 2D. The connectivity information is
applied to the depth samples to form a depth enhanced panorama (DEP),
which is a texture-mapped 3D triangle mesh. A DEP supports view
point translation while it maintains the advantages of color panoramas
such as fast acquisition, inexpensive acquisition device, and interactive
photorealistic rendering of the acquired scene. Several DEPs are
combined on the GPU for better scene coverage.
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Parallax-free pan-tilt bracket. |
Real-time parallax free modeling and operator feedback. |
Model of plant and room acquired in 5 and 15 minutes, respectively. |
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| We have extended the ModelCamera system
with shaft encoders, a more powerful laser and a custom 11x11
diffraction grating to model large indoor environments. A team
of two operators and a single acquisition device acquired in
40 hours a model spanning 1,400 m2 of floor space. The model
covers corridors and 20 individual rooms over six floors of
a large building on our campus. The model is assembled from
room and I, L, and T corridor sections. A section is modeled
by fitting proxy geometry to one or two DEPs. Corridor sections
have high geometric detail where needed. Relying on the immediate
feedback, the operator avoids over-sampling simple geometry.
The resulting model supports realistic walkthroughs of the large
indoor environment.
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Large-scale indoor model assembled from
room (blue) and corridor sections (orange). |
I, L, and T corridor sections. |
Corridor sections have embedded geometric
detail where needed (water fountain here). |
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