Upenn/UNC JointUpenn/UNC JointReconstruction EffortReconstruction Effort

OverviewOverview

Reconstruction effort in the GRASP Lab at Reconstruction effort in the GRASP Lab at Upenn as part of the joint effort with UNCUpenn as part of the joint effort with UNC

The team at Upenn is composed of:The team at Upenn is composed of:• Professors: Ruzena Bajcsy, Kostas Professors: Ruzena Bajcsy, Kostas

Daniilidis, and Camillo J. Taylor;Daniilidis, and Camillo J. Taylor;• Postdocs: Jane Mulligan;Postdocs: Jane Mulligan;• Graduate Students: David Jelinek, Choon Graduate Students: David Jelinek, Choon

Meng Lee, Jeffrey Mendelsohn;Meng Lee, Jeffrey Mendelsohn;• Undergraduate Students: Hal Greenwald, Undergraduate Students: Hal Greenwald,

David SchmidDavid Schmid

GoalGoal

The goal of the project is to produce The goal of the project is to produce veritable, complete, three dimensional veritable, complete, three dimensional geometry of a large static (for now) geometry of a large static (for now) environment. We use Professor Fred environment. We use Professor Fred Brooks’s kitchen as the test because it Brooks’s kitchen as the test because it has the CAD model available which will has the CAD model available which will serve as the Ground Truth for our serve as the Ground Truth for our reconstruction.reconstruction.

Omniderictional ImagesOmniderictional Images

Images taken with an omnidirectional camera Images taken with an omnidirectional camera will be used to obtain a high level will be used to obtain a high level reconstruction of the scenereconstruction of the scene

Digital Video imageryDigital Video imagery

Images acquired with a digital video camera will be Images acquired with a digital video camera will be used to texture map the model and add detailsused to texture map the model and add details

Stereo ImageryStereo Imagery

Stereo image data was also acquired Stereo image data was also acquired

Preliminary ReconstructionPreliminary Reconstruction

Collaborators hard at workCollaborators hard at work

Collaborators in actionCollaborators in action

Experimental SetupExperimental Setup