Watertight Planar Surface Meshing of Indoor Point-Clouds with Voxel Carving - PowerPoint PPT Presentation

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Watertight Planar Surface Meshing of Indoor Point-Clouds with Voxel Carving

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Watertight Planar Surface Meshing of Indoor Point-Clouds with Voxel Carving 3DV - June 29, 2013 Eric Turner Avideh Zakhor * EECS ... – PowerPoint PPT presentation

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Title: Watertight Planar Surface Meshing of Indoor Point-Clouds with Voxel Carving


1
Watertight Planar Surface Meshing of Indoor
Point-Clouds with Voxel Carving
  • 3DV - June 29, 2013
  • Eric Turner
  • Avideh Zakhor

2
Surface Meshing of Buildings
3
Surface Meshing of Buildings
  • Indoor Navigation
  • Energy Simulation
  • Texture Mapping
  • Virtual Reality
  • Augmented Reality
  • Video Games

4
Indoor Modeling
  • Acquisition System

5
Indoor Modeling
  • Point-cloud Generation

6
Example Point-cloud
7
Example Point-cloud
Example Mesh
8
Motivation
  • Why is meshing useful?
  • Why do we want it to be planar?
  • Why do we want it to be watertight?

9
Motivation
  • Why is meshing useful?
  • Example
  • Point-cloud
  • 45 Million Pts
  • 3.5 GB on disk

10
Motivation
  • Why is meshing useful?
  • Example Mesh
  • 985,000 Tris
  • 20 MB on disk

11
Approach
Point Cloud
Path
Voxels labeled inside / outside
Planar geometry fit to voxel boundary
Adaptively sized triangles
12
Voxel Carving
13
Voxel Carving
  • Trace path of laser through space

LiDAR scans
Path of Scanner
14
Voxel Carving
  • Interpolate neighboring scans to define volume

15
Voxel Carving
  • Define volume with voxels

Carved Voxels
16
Voxel Data Structure
  • Only boundary voxels explicitly stored
  • Carving preserves watertightness of volume

17
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18
Plane Fitting
  • Goal remove discretization artifacts on surface

19
Plane Fitting
  • Goal remove discretization artifacts on surface
  • Combine voxel faces into planar regions

20
Plane Fitting
  • Goal remove discretization artifacts on surface
  • Combine voxel faces into planar regions

Initialize via flood-fill
21
Plane Fitting
  • Merge regions by computing best-fit plane

22
Plane Fitting
  • Final merged regions

23
Plane Fitting
  • Final merged regions
  • Identified locations of planar regions
  • Now need to mesh

24
Triangulation of Regions
  • Example planar region

25
Triangulation of Regions
  • Example planar region
  • Dominant axis-aligned plane

26
Triangulation of Regions
  • Triangulate 2D projection

27
Triangulation of Regions
  • Example

28
Triangulation of Regions
  • Boundaries snapped to plane intersections

29
Results
30
Results
31
Constructed mesh of hallway
Texture-mapped mesh of hallway
32
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33
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34
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35
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36
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37
Mesh, colored by region
Close up of hotel hallway Viewing triangulation
and planar regions
Point-cloud
38
Large Retail Shopping Center
2.7 million triangles from 220 million points
112 m x 78 m
39
Thank You
40
Supplemental
41
Model Statistics
42
Preserving Fine Detail in Voxels
Scan points
Path of scanner
43
Preserving Fine Detail in Voxels
Scan points
Lasers
Path of scanner
44
Preserving Fine Detail in Voxels
Exterior Space
Interior Space
45
Preserving Fine Detail in Voxels
Scan points
Path of scanner
Lasers stopped at any occupied voxel
46
Preserving Fine Detail in Voxels
Exterior Space
Interior Space
47
Preserving Fine Detail in Voxels
Preserving fine detail
48
Preserving Fine Detail in Voxels
Without preserving fine detail
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