Multi-scale 3D-Modeling

This paper reviews 3D-modeling activities at the German DLR Institute of Robotics and Mechatronics, carried out within the last decade in cooperation with partners in Germany (Z+F, Illustrated Architecture, DLR Institutes of Optical Information Systems, and of Planetary Research) and international partners. The main focus is on multisensory (e.g. push-broom or rotating stereo line cameras, laser range finders) information containing (at least) geometry and texture. The paper describes systems which acquire such information at different scales of scenery, ranging from indoor scenes to planetary explorations. It also covers principles and methods for preprocessing, geometric reconstruction, texture mapping, or matching.

[1]  Karsten Scheibe,et al.  EYESCAN - A High Resolution Digital Panoramic Camera , 2001, RobVis.

[2]  G. Hirzinger,et al.  A Novel System Approach to Multisensory Data Acquisition , 2004 .

[3]  F. Wewel,et al.  High Resolution Stereo Camera (HRSC)-Multispectral 3D-Data Acquisition and Photogrammetric Data Processing , 2000 .

[4]  F. Härtl,et al.  Multimodale Sensorfusion auf Basis des Imager 5003 , 2006 .

[5]  Reinhard Klette,et al.  Combinations of range data and panoramic images - new opportunities in 3D scene modeling , 2005, International Conference on Computer Graphics, Imaging and Visualization (CGIV'05).

[6]  F. Wewel,et al.  Angewandte digitale Photogrammetrie mit der HRSC , 2002 .

[7]  Jonathan M. Garibaldi,et al.  Real-Time Correlation-Based Stereo Vision with Reduced Border Errors , 2002, International Journal of Computer Vision.

[8]  G. Hirzinger,et al.  Online surface reconstruction from unorganized 3D-points for the DLR hand-guided scanner system , 2004 .

[9]  Rui Liu,et al.  Photo-realistic 3D modelling - From robotics perception towards cultural heritage , 2005 .

[10]  Reinhard Klette,et al.  Geometrical fundamentals of polycentric panoramas , 2001, Proceedings Eighth IEEE International Conference on Computer Vision. ICCV 2001.

[11]  Rui Liu,et al.  Marker-free Automatic Matching of Range Data , 2005 .

[12]  Reinhard Klette,et al.  Modeling 3D Scenes: Paradigm Shifts in Photogrammetry, Remote Sensing and Computer Vision , 2005 .

[13]  H. Hirschmüller.  Accurate and Efficient Stereo Processing by Semi-Global Matching and Mutual Information , 2005, CVPR.

[14]  Georgy Gimel'farb,et al.  Cylindrical Panoramic Cameras - From Basic Design to Applications , 2002 .