For a large object, scanning from the air is one of the most efficient methods of obtaining 3D data. We have been developing a novel 3D measurement system, the Flying Laser Range Sensor (FLRS), in which a range sensor is suspended beneath a balloon. The obtained data, however, have some distortion due to movement during the scanning process. Then we propose a novel method to rectify the shape data obtained by a moving range sensor. The method rectifies them by using image sequences. We are conducting the Digital Bayon Project, in which our algorithm is actually applied for range data processing and the results show the effectiveness of our methods. Our proposed method is applicable not only to our FLRS, but also to a general moving range sensor.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
P. J. Besl and N. D. McKay. A method for registration of 3-D shapes. IEEE Trans. on PAMI, 14:239-256, 1992.
G. Blais and M. D. Levine. Registering multiview range data to crate 3D computer objects. IEEE Trans. on PAMI, 17(8):820-824, 1995.
D. Brown. The bundle adjustment - progress and prospect. In XIII Congress of the ISPRS, Helsinki, 1976.
Y. Chen and G. Medioni. Object modeling by registration of multiple range images. Image and Vision Computing, 10(3):145-155, 1992.
S. Christy and R. Horaud. Euclidean shape and motion from multiple perspective views by affine iterations. IEEE Trans. on PAMI, 18(11):1098-1104,1996.
J. Costeira and T. Kanade. A multi-body factorization method for motion analysis. In Proc. of ICCV1995, pages 1071-1076, 1995.
J. H. Friedman, J. L. Bentley, and R. A. Finkel. An algorithm for finding best-matches in logarithmic time. ACM Trans. on Mathematical Software, 3(3):209-226, 1977.
P. Gill, W. Murray, and M. Wright. Practical Optimization. Academic Press, London, 1981.
A. Gruber and Y. Weiss. Multibody factorization with uncertainty and missing data using the em algorithm. In Proc. of CVPR2004, volume 1, pages 707-714, 2004.
M. Han and T. Kanade. Perspective factorization methods for euclidean reconstruction. Technical Report :CMU-RI-TR-99-22, Robotics Institute, Carnegie Mellon University, 1999.
C. Harris and M. Stephens. A combined corner and edge detector. In Proc. of Alvey Vision Conference, pages 147-152, 1988.
Y. Hirota, T. Masuda, R. Kurazume, K. Ogawara, K. Hasegawa, and K. Ikeuchi. Designing a laser range finder which is suspended beneath a balloon. In Proc. of ACCV2004, volume 2, pages 658-663, 2004.
K. Ikeuchi, K. Hasegawa, A. Nakazawa, J. Takamatsu, T. Oishi, and T. Masuda. Bayon digital archival project. In Proc. of VSMM2004, pages 334-343, 2004.
K. Ikeuchi, A. Nakazawa, K. Hasegawa, and T. Ohishi. The great buddha project: Modeling cultural heritage for VR systems through observation. In Proc. of ISMAR2003, 2003.
D. A. Jacobs. The State of the Art in Numerical Analysis. Academic Press, London, 1977.
D. G. Lowe. Distinctive image features from scale-invariant keypoints. IJCV, 60(2):91-110, 2004.
D. W. Marquardt. An algorithm for least-squares estimation of nonlinear parameters. Journal of the Society for Industrial and Applied Mathematics, 11:431-441, 1963.
T. Masuda, Y. Hirota, K. Nishino, and K. Ikeuchi. Simultaneous determination of registration and deformation parameters among 3D range images. In Proc. of 3DIM2005, pages 369-376, 2005.
D. Miyazaki, T. Oishi, T. Nishikawa, R. Sagawa, K. Nishino, T. Tomomatsu, Y. Yakase, and K. Ikeuchi. The great buddha project: Modelling cultural heritage through observation. In Proc. of VSMM2000, pages 138-145, 2000.
H. P. Moravec. Towards automatic visual obstacle avoidance. In Proc. 5th International Joint Conference on Artificial Intelligence, page 584, 1977.
T. Morita and T. Kanade. A sequential factorization method for recovering shape and motion from image streams. IEEE Trans. on PAMI, 19(8):858-867, 1997.
P. Neugebauer. Geometrical cloning of 3D objects via simultaneous registration of multiple range images. In Proc. of the International Conference on Shape Modeling and Application, pages 130-139, 1997.
C. Poelmann and T. Kanade. A paraperspective factorization method for shape and motion recovery. IEEE Trans. on PAMI, 19(3):206-218, 1997.
E. Polak. Computational Methods in Optimization. Academic Press, New York, 1971.
W. H. Press, B. P. Flannery, S. A. Teukolsky, and W. T. Vetterling. Numerical Recipes in C. Cambridge University Press, 1988.
S. Rusinkiewicz and M. Levoy. Efficient variant of the ICP algorithm. In Proc. of 3DIM2001, pages 145-152, 2001.
S. M. Smith and M. Brady. SUSAN - a new approach to low level image processing. IJCV, 23(1):45-78, 1997.
J. Stoer and R.Bulirsh. Introduction to Numerical Analysis. Springer-Verlag, New York, 1980.
S. Thrun, M. Diel, and D. Haehnel. Scan alignment and 3-D surface modeling with a helicopter platform. In Proc. of the 4th International Conference on Field and Service Robotics, 2003.
C. Tomasi and T. Kanade. Shape and motion from image streams under orthography: a factorization method. IJCV, 9(2):137-154, 1992.
J. Visnovcova, L. Zhang, and A. Gruen. Generating a 3D model of a bayon tower using non-metric imagery. In Proc. of the International Workshop Recreating the Past -Visualization and Animation of Cultural Heritage, 2001.
E. Walter and L. Prontazo. Identification of Parametric Models from Experimental Data. Springer, 1997.
Z. Zhang. Iterative point matching for registration of free-form curves and surfaces. IJCV, 13:119-152, 1994.
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer Science+Business Media, LLC
About this chapter
Cite this chapter
Banno, A., Ikeuchi, K. (2008). Shape Rectification of 3D Data Obtained by a Moving Range Sensor by using Image Sequences. In: Digitally Archiving Cultural Objects. Springer, Boston, MA. https://doi.org/10.1007/978-0-387-75807_2
Download citation
DOI: https://doi.org/10.1007/978-0-387-75807_2
Publisher Name: Springer, Boston, MA
Print ISBN: 978-0-387-75806-0
Online ISBN: 978-0-387-75807-7
eBook Packages: Computer ScienceComputer Science (R0)