Springer Tracts in Advanced Robotics

Efficient 3D Scene Modeling and Mosaicing

Authors: Nicosevici, Tudor, Garcia, Rafael

  • Presents efficient approaches and open issues in the field of 3D mapping and navigation
  • Presents an end-to-end solution for creating accurate 3D textured models using monocular video sequences
  • Develops an online approach for measuring similarities between images
see more benefits

Buy this book

eBook $109.00
price for USA (gross)
  • ISBN 978-3-642-36418-1
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $139.00
price for USA
  • ISBN 978-3-642-36417-4
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Rent the ebook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
About this book

This book proposes a complete pipeline for monocular (single camera) based 3D mapping of terrestrial and underwater environments. The aim is to provide a solution to large-scale scene modeling that is both accurate and efficient. To this end, we have developed a novel Structure from Motion algorithm that increases mapping accuracy by registering camera views directly with the maps. The camera registration uses a dual approach that adapts to the type of environment being mapped.

 

In order to further increase the accuracy of the resulting maps, a new method is presented, allowing detection of images corresponding to the same scene region (crossovers). Crossovers then used in conjunction with global alignment methods in order to highly reduce estimation errors, especially when mapping large areas. Our method is based on Visual Bag of Words paradigm (BoW), offering a more efficient and simpler solution by eliminating the training stage, generally required by state of the art BoW algorithms.

 

Also, towards developing methods for efficient mapping of large areas (especially with costs related to map storage, transmission and rendering in mind), an online 3D model simplification algorithm is proposed. This new algorithm presents the advantage of selecting only those vertices that are geometrically representative for the scene.

Table of contents (6 chapters)

Buy this book

eBook $109.00
price for USA (gross)
  • ISBN 978-3-642-36418-1
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $139.00
price for USA
  • ISBN 978-3-642-36417-4
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Rent the ebook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
Loading...

Recommended for you

Loading...

Bibliographic Information

Bibliographic Information
Book Title
Efficient 3D Scene Modeling and Mosaicing
Authors
Series Title
Springer Tracts in Advanced Robotics
Series Volume
87
Copyright
2013
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag Berlin Heidelberg
eBook ISBN
978-3-642-36418-1
DOI
10.1007/978-3-642-36418-1
Hardcover ISBN
978-3-642-36417-4
Series ISSN
1610-7438
Edition Number
1
Number of Pages
XXII, 161
Number of Illustrations and Tables
21 b/w illustrations, 76 illustrations in colour
Topics