Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans...
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Transcript of Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans...
![Page 1: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/1.jpg)
Summary of“Data Processing Algorithm for Generating 3D building
Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth Jain,
Avideh Zakhor
Ilya Landa03/30/2008
![Page 2: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/2.jpg)
Overview
• The need for creating 3D models of urban environments
• Current methods– Aerial Photography– Vision Based Methods– Robot Mounted 2D/3D Lasers– Van Mounted Lasers Equipped With GPS
![Page 3: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/3.jpg)
Experiment Setup•Vertical 2D laser
•Horizontal 2D laser
•Digital Camera
![Page 4: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/4.jpg)
Experiment Setup
![Page 5: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/5.jpg)
Problems and Complications
![Page 6: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/6.jpg)
Raw Triangulation
![Page 7: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/7.jpg)
Occlusion
![Page 8: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/8.jpg)
Reverse Order Scans
)sin(
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dcrit
![Page 9: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/9.jpg)
Reflective or Transparent Surfaces
![Page 10: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/10.jpg)
Organizing Scan Points
![Page 11: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/11.jpg)
Downtown Assumptions
• Buildings have relatively flat facades that are parallel to the road, thus perpendicular to the scans
• Ground is a horizontal plane in all scans
• Surveyed landscapes are not dominated by trees
![Page 12: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/12.jpg)
Depth Levels•Main Depth – most frequent value
•Split Depth – local minimum
•Background Layer – around main depth
•Foreground Layer – trees, cars, etc.
•Ground Level
![Page 13: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/13.jpg)
Accumulative Histogram
![Page 14: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/14.jpg)
Results of the Split
Raw Points
Foreground Layer
Background Layer + Ground Points
Horizontal Laser Points Added
![Page 15: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/15.jpg)
Projecting Foreground Objects onto the background and ground layers
![Page 16: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/16.jpg)
Removing Window Holes
• Scanning a window results in a series of points with a random and large depth.
• If such points are in between points on the main depth, the hole can be eliminated.
![Page 17: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/17.jpg)
Point Improvement Overview
![Page 18: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/18.jpg)
![Page 19: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/19.jpg)
Texture Generation
![Page 20: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/20.jpg)
Camera Data
![Page 21: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/21.jpg)
Naive Foreground Removal
![Page 22: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/22.jpg)
Background / Foreground SplittingSetup
![Page 23: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/23.jpg)
Background / Foreground SplittingNo Obstacles
s
![Page 24: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/24.jpg)
No Obstacles Example
![Page 25: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/25.jpg)
Background / Foreground SplittingSmall Obstacle
s
![Page 26: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/26.jpg)
Small Obstacle Example
![Page 27: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/27.jpg)
Background / Foreground SplittingLarge Obstacle
s
![Page 28: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/28.jpg)
Large Obstacle Example
![Page 29: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/29.jpg)
Split Results
![Page 30: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/30.jpg)
Combining Split Photos
![Page 31: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/31.jpg)
Linear Hole Filling
![Page 32: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/32.jpg)
Copy-Paste
![Page 33: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/33.jpg)
Final Texture Atlas
![Page 34: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/34.jpg)
Quality Comparison
![Page 35: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/35.jpg)
Raw vs. ImprovedVisual Comparison of 73 City Block Fronts
Significantly Better 35 48%
Better 17 23%
Same 15 21%
Worse 5 7%
Significantly Worse 1 1%
Total 73 100%
![Page 36: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/36.jpg)
“Significantly Better” Examples
![Page 37: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/37.jpg)
“Better” Examples
![Page 38: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/38.jpg)
“Bad” Example
![Page 39: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/39.jpg)
Downtown Berkeley
![Page 40: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/40.jpg)
Downtown Berkeley
![Page 41: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/41.jpg)
Downtown Berkeley
![Page 42: Summary of “Data Processing Algorithm for Generating 3D building Facade Meshes From Laser Scans and Camera Images”. An article by Christian Frueh, Siddharth.](https://reader035.fdocuments.in/reader035/viewer/2022070400/56649f0d5503460f94c20eb0/html5/thumbnails/42.jpg)
Downtown Berkeley