Computer Vision Meets Geometric Modeling: Multi-view Reconstruction of Surface Points and Normals Using Affine Correspondences

Hajder, Levente; Eichhardt, Ivan

doi:10.1109/iccvw.2017.286

Cited by 3 publications

(5 citation statements)

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“…A feature-based SfMapproach with a novel approach that refines motion (camera parameters and poses) and structure (both 3D points and surface normals) demonstrates the use of ACs for 3D reconstruction. Related publications are [6,1,12,13,14,16,17,18,19,4].…”

Section: Main Contributionsmentioning

confidence: 99%

“…I hereby certify that the results presented in this dissertation are my own results. During my research I cooperated with my advisor Dmitry Chetverikov [10,13,14,15,2], Levente Hajder [16,17,18,19,5], Dániel Baráth [6,1,12], Zoltán Pusztai [5], József Molnár [4], Gábor Kátai-Urbán and Zoltán Megyesi [3].…”

Section: Authorshipmentioning

confidence: 99%

“…The reconstruction pipeline was applied to compute the 3D model of the observed scenes including point clouds and corresponding normals. Then, the object fitting algorithms discussed in [52,17,136] were applied. The fitting methods were integrated into a RANSAC [59]-like robust estimator 9 to detect the most dominant object in the scene with the corresponding inliers.…”

Section: Quantitative Comparison Of Reconstructed Modelsmentioning

confidence: 99%

“…However, surface normals can also be estimated by fitting tangent planes to neighborhoods of points. This is a standard technique in RE [139], a possible algorithm is described in [17]. MeshLab [44] was used to estimate the normals given a raw point cloud.…”

Section: Quantitative Comparison Of Reconstructed Modelsmentioning

confidence: 99%

“…[28] proposed a least-squares optimal method for stereo surface normal estimation. The first multi-view surface normal estimator was presented by Eichhardt and Hajder [17]. In a BA-like manner, along with the 3D points and camera parameters, they also incorporated the refinement of surface normals in SfM.…”

Section: Previous Workmentioning

confidence: 99%

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Affine Correspondences and Challenges in Multi-Sensor Systems

Eichhardt¹

2020

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Multi-device systems of cameras and various depth sensors are widely used these days in the industry. Some can also operate well in conditions where others cannot (e.g. active laser sensors compared to cameras). Various views and sensors of different modalities reveal valuable information about the environment, which is crucial for the robust operation of, e.g., detection or decision-making algorithms. The fusion of sensor data, calibration and multiple-view geometry are critical topics discussed in this dissertation.Sensors are usually placed in a common frame of reference determined by intrinsic and other parameters describing sensor alignment. During the process of calibration, all parameters can be estimated and tuned based on correspondences between sensor views. The mainstream computer vision methods solving geometric tasks use corresponding points across views as an input. Based on the correspondences, it is possible to estimate the underlying geometry of the views (i.e., epipolar geometry). As a next step, the 3D structure of the scene can also be determined. Corresponding image points are established as the extracted centers of dominant image regions. However, the shape and orientation of the regions also contain useful information as they are related to the underlying surface. Only a minority of the computer vision community tries to utilize this inter-region relation, mostly constraining their approaches to the basic pinhole camera model. The first-order approximation of a region correspondence is called an Affine Correspondence (AC). Sensor fusion is also an important part of modern systems that observe and analyze the environment. Sensors of distinct views and different modalities (e.g., depth and color images) complement each other. A low-resolution Time-of-Flight (ToF) depth camera image can be supersampled using a high-resolution color image of the same view as guidance, while depth may provide e.g. a posterior option for refocusing the color view.This thesis provides a thorough investigation of ACs in the theoretical and algorithmic sense to obtain rapid, more robust and high-quality geometric model estimation in twoor multiple-view cases. It is demonstrated that ACs are usable in general scenarios where real-world cameras and diverse geometry complicate the task. Next, the data-level sensor fusion of high-resolution color-and lower-resolution ToF depth-cameras is investigated for single pairs of frames and also for video sequences. Finally, the calibration of multi-sensor systems is discussed, that include LiDARs and cameras (wide-angle, fisheye optics, etc.). i I would like to express my gratitude to my colleagues at Institute for Computer Science and Control (SZTAKI) and at Eötvös Loránd University (ELTE) whom I had the pleasure to work with, especially, to my advisor Dmitry Chetverikov for introducing me to image processing and computer vision, guiding me throughout my Ph.D. study and research, and all his support, knowledge and critical view on research he shared with me. I would like to tha...

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