Real-time 3D Reconstruction and Localization
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1 Real-time 3D Reconstruction and Localization Hauptseminar Computer Vision & Visual Tracking for Robotic Applications SS2012 Robert Maier Technische Universität München Department of Informatics Robotics and Embedded Systems Robert Maier: Real-time 3D Reconstruction and Localization 1 / 31
2 Overview 1 Motivation 2 Existing related work 3 Real-time 3D Reconstruction and Localization Basic approach 3D data aquisition Reconstruction: Volume representation & ray casting Localization Volumetric integration Visualization 4 Examples 5 Conclusion Robert Maier: Real-time 3D Reconstruction and Localization 2 / 31
3 Outline 1 Motivation 2 Existing related work 3 Real-time 3D Reconstruction and Localization Basic approach 3D data aquisition Reconstruction: Volume representation & ray casting Localization Volumetric integration Visualization 4 Examples 5 Conclusion Robert Maier: Real-time 3D Reconstruction and Localization 3 / 31
4 Motivation Reverse Engineering: How to get a CAD model of a work piece? (e.g. for measuring purposes) Elaborate manual creation! Environment reconstruction for robots Robert Maier: Real-time 3D Reconstruction and Localization 4 / 31
5 Motivation: Task General task: reconstruct 3D models of real world scenes Solution: Real-time 3D Reconstruction and Localization 3D Reconstruction: build digital 3D model from physical object Localization: track camera to fuse different views Desired properties: Infrastructure- and marker-free (Single) handheld camera Real-time capability Accurate reconstruction Robert Maier: Real-time 3D Reconstruction and Localization 5 / 31
6 Outline 1 Motivation 2 Existing related work 3 Real-time 3D Reconstruction and Localization Basic approach 3D data aquisition Reconstruction: Volume representation & ray casting Localization Volumetric integration Visualization 4 Examples 5 Conclusion Robert Maier: Real-time 3D Reconstruction and Localization 6 / 31
7 Existing related work Approaches: SLAM: Simultaneous Localization And Mapping PTAM: Parallel Tracking And Mapping Limitations: Only use of sparse (feature-based) depth maps Reconstruction of only sparse models, used mostly for tracking Robert Maier: Real-time 3D Reconstruction and Localization 7 / 31
8 Outline 1 Motivation 2 Existing related work 3 Real-time 3D Reconstruction and Localization Basic approach 3D data aquisition Reconstruction: Volume representation & ray casting Localization Volumetric integration Visualization 4 Examples 5 Conclusion Robert Maier: Real-time 3D Reconstruction and Localization 8 / 31
9 Basic approach Scene Localization 6DOF Pose 3D data Volumetric Integration Ray casting Reconstruction (Global 3D model) Robert Maier: Real-time 3D Reconstruction and Localization 9 / 31
10 Basic approach: 3D data aquisition Scene Localization 6DOF Pose 3D data Volumetric Integration Ray casting Reconstruction (Global 3D model) Robert Maier: Real-time 3D Reconstruction and Localization 10 / 31
11 Aquisition of depth maps Dense depth map: 2D image with distances to next surface at each pixel Depth sensors: Microsoft Kinect Time-of-flight cameras 3D laser scanner Standard cameras: Stereo vision setup Single camera: depth from multiple views Robert Maier: Real-time 3D Reconstruction and Localization 11 / 31
12 Depth map conversion Initial data: depth map Remove noise using bilateral filter: filtered depth map Project into 3D camera space: vertex map (point cloud) Compute surface normals for each vertex: normal map Robert Maier: Real-time 3D Reconstruction and Localization 12 / 31
13 Basic approach: Volume representation Scene Localization 6DOF Pose 3D data Volumetric Integration Ray casting Reconstruction (Global 3D model) Robert Maier: Real-time 3D Reconstruction and Localization 13 / 31
14 Volumetric scene representation Goal: Find representation for reconstructed 3D model Store all point clouds from all frames too expensive Better: partition physical 3D space into discrete 3D voxel grid Fuse all depth maps from different views into this global model Implicit surfaces: Truncated Signed Distance Function (TSDF) Robert Maier: Real-time 3D Reconstruction and Localization 14 / 31
15 Truncated Signed Distance Function Object lies inside volume Assumption: Pose of camera w.r.t. to volume known Compute and store for each voxel of the volume: Truncated signed distance: relative distance of each voxel to the surface (between -1.0 and 1.0) Accumulated weight (for volumetric integration) Object surface defined by zero-crossings of TSDF Robert Maier: Real-time 3D Reconstruction and Localization 15 / 31
16 Truncated Signed Distance Function Robert Maier: Real-time 3D Reconstruction and Localization 16 / 31
17 Truncated Signed Distance Function Robert Maier: Real-time 3D Reconstruction and Localization 17 / 31
18 Basic approach: Ray casting Scene Localization 6DOF Pose 3D data Volumetric Integration Ray casting Reconstruction (Global 3D model) Robert Maier: Real-time 3D Reconstruction and Localization 18 / 31
19 Ray casting Given pose (virtual camera): Shoot rays through volume Zero-crossing of TSDF values surface Generate synthetic depth map Robert Maier: Real-time 3D Reconstruction and Localization 19 / 31
20 Basic approach: Localization Scene Localization 6DOF Pose 3D data Volumetric Integration Ray casting Reconstruction (Global 3D model) Robert Maier: Real-time 3D Reconstruction and Localization 20 / 31
21 Localization: Approaches Estimate camera pose for each new depth image w.r.t. global model frame 6DOF Pose? Two different approaches: Scan Alignment (KinectFusion) Image Alignment (DTAM) Robert Maier: Real-time 3D Reconstruction and Localization 21 / 31
22 Scan alignment: Iterative Closest Points algorithm Align overlapping point clouds (roughly aligned) Compute 6DOF pose between these scans Use of dense depth maps: more accurate localization ICP algorithm: Minimize distances between two point clouds Find closest pairs of points in the two point clouds Minimize distances between all closest points (= align scans) Compute closest points again and minimize distances Repeat steps iteratively until convergence Robert Maier: Real-time 3D Reconstruction and Localization 22 / 31
23 Localization using Scan Alignment First frame: predefined camera pose w.r.t. global volume Then: Align vertex map of current frame to previous frame: Vertex map of previous frame: Raw depth map of camera significant drift Better: Ray casting of synthetic depth map of global model ICP computes transformation w.r.t. previous frame Camera pose w.r.t. global model: combine consecutive transformations Initial Pose Camera motion too far: lost tracking Re-localization Robert Maier: Real-time 3D Reconstruction and Localization 23 / 31
24 Localization using Image Alignment 2.5D image alignment Ray casting from the global model (starting from previous camera pose): synthetic color image (from keyframes) synthetic inverse depth image Compare synthetic image with current real image Adjust and find virtual camera pose which gives best match between synthetic and real image 6DOF camera pose Robert Maier: Real-time 3D Reconstruction and Localization 24 / 31
25 Basic approach: Volumetric integration Scene Localization 6DOF Pose 3D data Volumetric Integration Ray casting Reconstruction (Global 3D model) Robert Maier: Real-time 3D Reconstruction and Localization 25 / 31
26 Volumetric integration 6DOF pose (localization) project current vertex map into global volume Compute for each voxel using projected vertex map: TSDF values: relative distances Weight: angle between surface normal and viewing direction Update voxels of global model: Update only visible voxels Average TSDF values of voxels with new values Add new weight to weight of voxels Robert Maier: Real-time 3D Reconstruction and Localization 26 / 31
27 Visualization: Marching cubes algorithm Compute polygonal mesh of an isosurface from 3D voxel grid: Take eight neighbor voxels of voxel grid (cube) Scalar values of cube corners: polygons to represent isosurface going through this cube 8 bits: 1, if scalar value is lower than isosurface value (inside the surface), otherwise 0 Based on 8 bits: choose polygon representation (lookup table) Place polygon vertices on cube edges (linear interpolation) Robert Maier: Real-time 3D Reconstruction and Localization 27 / 31
28 Outline 1 Motivation 2 Existing related work 3 Real-time 3D Reconstruction and Localization Basic approach 3D data aquisition Reconstruction: Volume representation & ray casting Localization Volumetric integration Visualization 4 Examples 5 Conclusion Robert Maier: Real-time 3D Reconstruction and Localization 28 / 31
29 KinectFusion Play time! Robert Maier: Real-time 3D Reconstruction and Localization 29 / 31
30 Outline 1 Motivation 2 Existing related work 3 Real-time 3D Reconstruction and Localization Basic approach 3D data aquisition Reconstruction: Volume representation & ray casting Localization Volumetric integration Visualization 4 Examples 5 Conclusion Robert Maier: Real-time 3D Reconstruction and Localization 30 / 31
31 Conclusion Achievements: Accurate Reconstruction of full workspaces Real-time capability (due to use of GPU) Limitations: Voxel model unflexible Limited support for large areas Only rigid scenes (no deformations) Kinect sensor (only indoor) Current field of research! Robert Maier: Real-time 3D Reconstruction and Localization 31 / 31
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