Building Geometric and Photometric Correct 3-D Models

11/19/99


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Table of Contents

Building Geometric and Photometric Correct 3-D Models

Outline of Talk

Introduction

Motivation: Applications

Related Work

3-D Modeling Desiderata

Sensor Imaging Characteristics

3-D Modeling with Surfaces

Modeling with Mesh Surfaces

PPT Slide

Range Scan and Extruded Solid Model

Merging Models from Different Views

Movie!!!

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Example: Toy Bear in 4 Views

Effects of Sampling on Integration

Effects of Sampling on Integration

Effects of Sampling on Integration

Integration of View Planning

Integration of View Planning

Viewpoint Planning: Constraints

Sensor Imaging Constraints

Model Occlusion Constraints

Sensor Placement Constraints

Constraint Integration

Planning Example

Planning Example

Planning Example

Planning Example

Planning Example

Planning Example

Example of View Planning: Strut Target: Occluded Surface of Max. Area

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Example of View Planning: Strut

Strut: Final Model

Considering Multiple Targets

Including Sensor Placement Constraints

Example: Model City

City Model: After 4 Views

City Model: Target Visibility for 30 Largest Occluded Surfaces

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City Model: Texture Mapped

City Model: Analysis

City Model: Analysis

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Range Scanning Outdoor Structures

Mesh Surface

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A Site Modeling Robot

AVENUE ------------------ Autonomous Vehicle Exploring & Navigating Urban Environments

Columbia Campus Testbed

Conclusion

What Are You Looking At?

Author: Scampi

Email: allen@cs.columbia.edu

Home Page: www.cs.columbia.edu/~allen