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TVL\({}_1\) Planarity Regularization for 3D Shape Approximation

  • Conference paper
Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2015)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 598))

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Abstract

The modern emergence of automation in many industries has given impetus to extensive research into mobile robotics. Novel perception technologies now enable cars to drive autonomously, tractors to till a field automatically and underwater robots to construct pipelines. An essential requirement to facilitate both perception and autonomous navigation is the analysis of the 3D environment using sensors like laser scanners or stereo cameras. 3D sensors generate a very large number of 3D data points when sampling object shapes within an environment, but crucially do not provide any intrinsic information about the environment which the robots operate within.

This work focuses on the fundamental task of 3D shape reconstruction and modelling from 3D point clouds. The novelty lies in the representation of surfaces by algebraic functions having limited support, which enables the extraction of smooth consistent implicit shapes from noisy samples with a heterogeneous density. The minimization of total variation of second differential degree makes it possible to enforce planar surfaces which often occur in man-made environments. Applying the new technique means that less accurate, low-cost 3D sensors can be employed without sacrificing the 3D shape reconstruction accuracy.

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Author information

Authors and Affiliations

  1. Department of Computing and Communications, The Open University, Milton Keynes, UK

    Eugen Funk & Laurence S. Dooley

  2. Department of Information Processing for Optical Systems, Institute of Optical Sensor Systems, German Aerospace Center (DLR), Berlin, Germany

    Eugen Funk & Anko Börner

Authors
  1. Eugen Funk
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  2. Laurence S. Dooley
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  3. Anko Börner
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Corresponding author

Correspondence to Eugen Funk .

Editor information

Editors and Affiliations

  1. Escola Superior de Tecnologia do IPS, Setúbal, Portugal

    José Braz

  2. Inria-Rennes/MimeTIC Team, Rennes cedex, France

    Julien Pettré

  3. LISA - ISTIA, University of Angers, Angers, France

    Paul Richard

  4. Linnaeus University, Växjö, Sweden

    Andreas Kerren

  5. Jacobs University, Bremen, Germany

    Lars Linsen

  6. Università di Catania, Catania, Catania, Italy

    Sebastiano Battiato

  7. Research Innovation Center, Canon U.S.A. Inc, San Jose, CA, USA

    Francisco Imai

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Funk, E., Dooley, L.S., Börner, A. (2016). TVL\({}_1\) Planarity Regularization for 3D Shape Approximation. In: Braz, J., et al. Computer Vision, Imaging and Computer Graphics Theory and Applications. VISIGRAPP 2015. Communications in Computer and Information Science, vol 598. Springer, Cham. https://doi.org/10.1007/978-3-319-29971-6_15

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  • DOI: https://doi.org/10.1007/978-3-319-29971-6_15

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-29970-9

  • Online ISBN: 978-3-319-29971-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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