DocumentCode :
2179547
Title :
IMU-Aided 3D Reconstruction Based on Multiple Virtual Planes
Author :
Aliakbarpour, Hadi ; Dias, Jorge
Author_Institution :
DEEC, Univ. of Coimbra, Coimbra, Portugal
fYear :
2010
fDate :
1-3 Dec. 2010
Firstpage :
474
Lastpage :
479
Abstract :
This paper proposes a novel approach for fast 3D reconstruction of an object inside a scene by using Inertial Measurement Unit (IMU) data. A network of cameras is used to observe the scene. For each camera within the network, a virtual camera is considered by using the concept of infinite homography. Such a virtual camera is downward and has optical axis parallel to the gravity vector. Then a set of virtual horizontal 3D planes are considered for the aim of 3D reconstruction. The intersection of these virtual parallel 3D planes with the object is computed using the concept of homography and by applying a 2D Bayesian occupancy grid for each plane. The experimental results validate both feasibility and effectiveness of the proposed method.
Keywords :
Bayes methods; cameras; image reconstruction; virtual reality; 2D Bayesian occupancy grid; IMU-aided 3D reconstruction; gravity vector; inertial measurement unit; infinite homography; multiple virtual planes; optical axis; virtual camera; virtual horizontal 3D planes; Bayesian methods; Calibration; Cameras; Earth; Mathematical model; Sensors; Three dimensional displays; 3D Reconstruction; Camera network; Homography; IMU; Occupancy grid; Virtual camera; Virtual plane;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Digital Image Computing: Techniques and Applications (DICTA), 2010 International Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
978-1-4244-8816-2
Electronic_ISBN :
978-0-7695-4271-3
Type :
conf
DOI :
10.1109/DICTA.2010.86
Filename :
5692606
Link To Document :
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