Portable 3-D modeling using visual pose tracking

Abstract

This work deals with the passive tracking of the pose of a close-range 3-D modeling device using its own high-rate images in realtime, concurrently with customary 3-D modeling of the scene. This novel development makes it possible to abandon using inconvenient, expensive external trackers, achieving a portable and inexpensive solution. The approach comprises efficient tracking of natural features following the Active Matching paradigm, a frugal use of interleaved feature-based stereo triangulation, visual odometry using the robustified V-GPS algorithm, graph optimization by local bundle adjustment, appearance-based relocalization using a bank of parallel three-point-perspective pose solvers on SURF features, and online reconstruction of the scene in the form of textured triangle meshes to provide visual feedback to the user. Ideally, objects are completely digitized by browsing around the scene; in the event of closing the motion loop, a hybrid graph optimization takes place, which delivers highly accurate motion history to refine the whole 3-D model within a second. The method has been implemented on the DLR 3D-Modeler; demonstrations and abundant video material validate the approach. These types of low-cost systems have the potential to enhance traditional 3-D modeling and conquer new markets owing to their mobility, passivity, and accuracy.

A Self-Assembly Portable Mobile Mapping System for Archeological Reconstruction Based on VSLAM-Photogrammetric Algorithm

“…In this sense, the classical methods of photogrammetry are combined with new techniques and procedures which are usually adopted for other areas [17], such as visual odometry (VO), the simultaneous localization and mapping (SLAM) and the visual slam (VSLAM) techniques. These are normally used to solve localization and mapping problems in the areas of robotics and autonomous systems [18,19,20,21], but also the combination of photogrammetry techniques with methodologies based on instruments like terrestrial or aerial laser scanners have obtained successful results [22,23].…”