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

EE CS. 3DV - June 29, 2013 Eric Turner Avideh Zakhor. Watertight Planar Surface Meshing of Indoor Point-Clouds with Voxel Carving. University of California, Berkeley. EE CS. Surface Meshing of Buildings. University of California, Berkeley. EE CS. Surface Meshing of Buildings.

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

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  1. EECS 3DV - June 29, 2013 Eric Turner Avideh Zakhor Watertight Planar Surface Meshing of Indoor Point-Clouds with Voxel Carving University of California, Berkeley

  2. EECS Surface Meshing of Buildings University of California, Berkeley

  3. EECS Surface Meshing of Buildings University of California, Berkeley • Indoor Navigation • Energy Simulation • Texture Mapping • Virtual Reality • Augmented Reality • Video Games

  4. EECS Indoor Modeling University of California, Berkeley • Acquisition System

  5. EECS Indoor Modeling University of California, Berkeley • Point-cloud Generation

  6. EECS Example Point-cloud University of California, Berkeley

  7. EECS Example Point-cloud University of California, Berkeley Example Mesh

  8. EECS Motivation University of California, Berkeley • Why is meshing useful? • Why do we want it to be planar? • Why do we want it to be watertight?

  9. EECS Motivation University of California, Berkeley • Why is meshing useful? Example Point-cloud • 45 Million Pts • 3.5 GB on disk

  10. EECS Motivation University of California, Berkeley • Why is meshing useful? Example Mesh • 985,000 Tris • 20 MB on disk

  11. EECS Approach University of California, Berkeley Point Cloud Path Voxels labeled inside / outside Voxel Carving Region Growing Planar geometry fit to voxel boundary Triangulate Regions Watertight Mesh Adaptively sized triangles

  12. EECS Voxel Carving University of California, Berkeley LiDAR scans Path of Scanner

  13. EECS Voxel Carving University of California, Berkeley • Trace path of laser through space LiDAR scans Path of Scanner

  14. EECS Voxel Carving University of California, Berkeley • Interpolate neighboring scans to define volume Ray-tracing

  15. EECS Voxel Carving University of California, Berkeley • Define volume with voxels Carved Voxels

  16. EECS Voxel Data Structure University of California, Berkeley • Only boundary voxels explicitly stored • Carving preserves watertightness of volume

  17. EECS University of California, Berkeley

  18. EECS Plane Fitting University of California, Berkeley • Goal: remove discretization artifacts on surface

  19. EECS Plane Fitting University of California, Berkeley • Goal: remove discretization artifacts on surface • Combine voxel faces into planar regions

  20. EECS Plane Fitting University of California, Berkeley • Goal: remove discretization artifacts on surface • Combine voxel faces into planar regions Initialize via flood-fill

  21. EECS Plane Fitting University of California, Berkeley • Merge regions by computing best-fit plane

  22. EECS Plane Fitting University of California, Berkeley • Final merged regions

  23. EECS Plane Fitting University of California, Berkeley • Final merged regions • Identified locations of planar regions • Now need to mesh

  24. EECS Triangulation of Regions University of California, Berkeley • Example planar region

  25. EECS Triangulation of Regions University of California, Berkeley • Example planar region • Dominant axis-aligned plane

  26. EECS Triangulation of Regions University of California, Berkeley • Triangulate 2D projection

  27. EECS Triangulation of Regions University of California, Berkeley • Example

  28. EECS Triangulation of Regions University of California, Berkeley • Boundaries snapped to plane intersections

  29. EECS Results University of California, Berkeley

  30. EECS Results University of California, Berkeley

  31. EECS University of California, Berkeley Constructed mesh of hallway Texture-mapped mesh of hallway

  32. EECS University of California, Berkeley

  33. EECS University of California, Berkeley

  34. EECS University of California, Berkeley

  35. EECS University of California, Berkeley

  36. EECS University of California, Berkeley

  37. EECS University of California, Berkeley Mesh, colored by region Close up of hotel hallway Viewing triangulation and planar regions Point-cloud

  38. EECS Large Retail Shopping Center University of California, Berkeley 2.7 million triangles from 220 million points 112 m x 78 m

  39. EECS Thank You University of California, Berkeley

  40. EECS Supplemental University of California, Berkeley

  41. EECS Model Statistics University of California, Berkeley

  42. EECS Preserving Fine Detail in Voxels University of California, Berkeley Scan points Path of scanner

  43. EECS Preserving Fine Detail in Voxels University of California, Berkeley Scan points Lasers Path of scanner

  44. EECS Preserving Fine Detail in Voxels University of California, Berkeley Exterior Space Interior Space

  45. EECS Preserving Fine Detail in Voxels University of California, Berkeley Scan points Path of scanner Lasers stopped at any occupied voxel

  46. EECS Preserving Fine Detail in Voxels University of California, Berkeley Exterior Space Interior Space

  47. EECS Preserving Fine Detail in Voxels University of California, Berkeley Preserving fine detail

  48. EECS Preserving Fine Detail in Voxels University of California, Berkeley Without preserving fine detail

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