Search results for "3d registration"
showing 7 items of 7 documents
Integration of high resolution spatial and spectral data acquisition systems for monitoring purposes in cultural heritage applications
2013
The concern and interest of this PhD thesis is the registration of featureless 3D and multispectral datasets describing cultural heritage objects.In this context, there are few natural salient features between the complementary datasets, and the use of targets is generally proscribed.We thus develop a technique based on the photogrammetric tracking of the acquisition systems in use.A series of simulations was performed to evaluate the accuracy of our method in three configurations chosen to represent a variety of cultural heritage objects.These simulations show that we can achieve a spatial tracking accuracy of 0.020 mm and an angular accuracy of 0.100 mrad using four 5 Mpx cameras when dig…
LMI-based 2D-3D Registration: from Uncalibrated Images to Euclidean Scene
2015
International audience; This paper investigates the problem of registering a scanned scene, represented by 3D Euclidean point coordinates , and two or more uncalibrated cameras. An unknown subset of the scanned points have their image projections detected and matched across images. The proposed approach assumes the cameras only known in some arbitrary projective frame and no calibration or autocalibration is required. The devised solution is based on a Linear Matrix Inequality (LMI) framework that allows simultaneously estimating the projective transformation relating the cameras to the scene and establishing 2D-3D correspondences without triangulating image points. The proposed LMI framewo…
Registration of arbitrary multi-view 3D acquisitions
2013
International audience; To register 3D meshes representing smooth surfaces we track the 3D digitization system using photogrammetric techniques and calibrations. We present an example by digitizing a 800 mm x 600 mm portion of a car door. To increase the tracking accuracy the 3D scanner is placed in a cubic frame of side 0.5 m covered with 78 targets. The target frame moves in a volume that is approximately 1100 mm x 850 mm x 900 mm, to digitize the area of interest. Using four cameras this target frame is tracked with of an accuracy of 0.03 mm spatially and 0.180 mrad angularly. A registration accuracy between 0.1 mm and 2 mm is reached. This method can be used for the registration of mesh…
Localization of 2D Cameras in a Known Environment Using Direct 2D-3D Registration
2014
International audience; In this paper we propose a robust and direct 2D-to- 3D registration method for localizing 2D cameras in a known 3D environment. Although the 3D environment is known, localizing the cameras remains a challenging problem that is particularly undermined by the unknown 2D-3D correspondences, outliers, scale ambiguities and occlusions. Once the cameras are localized, the Structure-from-Motion reconstruction obtained from image correspondences is refined by means of a constrained nonlinear optimization that benefits from the knowledge of the scene. We also propose a common optimization framework for both localization and refinement steps in which projection errors in one v…
SAMSLAM: Simulated Annealing Monocular SLAM
2013
This paper proposes a novel monocular SLAM approach. For a triplet of successive keyframes, the approach inteleaves the registration of the three 3D maps associated to each image pair in the triplet and the refinement of the corresponding poses, by progressively limiting the allowable reprojection error according to a simulated annealing scheme. This approach computes only local overlapping maps of almost constant size, thus avoiding problems of 3D map growth. It does not require global optimization, loop closure and back-correction of the poses.
Registration of 3D and Multispectral Data for the Study of Cultural Heritage Surfaces
2013
International audience; We present a technique for the multi-sensor registration of featureless datasets based on the photogrammetric tracking of the acquisition systems in use. This method is developed for the in situ study of cultural heritage objects and is tested by digitizing a small canvas successively with a 3D digitization system and a multispectral camera while simultaneously tracking the acquisition systems with four cameras and using a cubic target frame with a side length of 500 mm. The achieved tracking accuracy is better than 0.03 mm spatially and 0.150 mrad angularly. This allows us to seamlessly register the 3D acquisitions and to project the multispectral acquisitions on th…
Asserting the Precise Position of 3D and Multispectral Acquisition Systems for Multisensor Registration Applied to Cultural Heritage Analysis
2012
International audience; We present a novel method to register multispectral acquisitions on a 3D model. The method is based on the external tracking of the acquisition systems using close-range photogrammetric techniques: multiple calibrated cameras simultaneously observe the successive acquisition systems in use. The views from these cameras are used to precisely determine the position of each acquisition system. All datasets can then be projected in the same coordinate system. The registration is thus independent from the quality and content of the data. This method is well suited to the study of cultural heritage or any other application where we do not wish to place targets on the objec…