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Automatic 3D Modeling from Range Images This project is no longer active. Head: Martial Hebert Contact: Daniel Huber (dhuber@cs.cmu.edu) Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213 Associated center: VASC Associated lab/group: 3D Computer Vision Group For more information, see this project's homepage.

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Project Description

Many applications in computer graphics, computer vision, and robotics require accurate three-dimensional (3D) models of real-world objects. Current techniques for acquiring 3D models from reality require significant manual assistance or make assumptions about the scene characteristics or data collection procedure. The goal of this project is to fully automate the 3D modeling process without resorting to these restrictive assumptions. Given a set of unordered range images and no additional a priori information about the scene, our system automatically generates an accurate 3D reconstruction. Specifically, it is not necessary to know the relative pose between viewpoints or to indicate which views contain overlapping scene regions.

The automatic modeling system begins by registering all pairs of input views with no knowledge of the relative poses. The results are verified for consistency, but some incorrect matches may be locally undetectable and some correct matches may be missed. We then construct a consistent model from these potentially faulty matches using mixed continuous and discrete optimization algorithms and a global consistency criterion to eliminate incorrect, but locally consistent, matches. We demonstrate the utility of automatic modeling with an application called handheld modeling, in which a 3D model is automatically created from an object held in a person's hand.

Past members

	Name	Title	Email Address
	Martial Hebert	Professor	hebert@ri.cmu.edu
	Daniel Huber	Systems Scientist	dhuber@cs.cmu.edu

Publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Fully automatic registration of multiple 3D data sets
  D. Huber and M. Hebert
  Image and Vision Computing, Vol. 21, No. 7, July, 2003, pp. 637-650. [Abstract]
  Download: pdf [696 KB] copyrighted

• 3D Modeling Using a Statistical Sensor Model and Stochastic Search
  D. Huber and M. Hebert
  Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June, 2003, pp. 858-865. [Abstract]
  Download: pdf [319 KB] copyrighted

• Automatic Three-dimensional Modeling from Reality
  D. Huber
  doctoral dissertation, tech. report CMU-RI-TR-02-35, Robotics Institute, Carnegie Mellon University, December, 2002. [Abstract]
  Download: pdf [7485 KB] copyrighted

• Fully Automatic Registration of Multiple 3D Data Sets
  D. Huber and M. Hebert
  IEEE Computer Society Workshop on Computer Vision Beyond the Visible Spectrum(CVBVS 2001), December, 2001. [Abstract]
  Download: pdf [1014 KB] copyrighted

• Automatic 3D Modeling Using Range Images Obtained from Unknown Viewpoints
  D. Huber
  Proceedings of the Third International Conference on 3-D Digital Imaging and Modeling, IEEE Computer Society, May, 2001, pp. 153-160. [Abstract]
  Download: pdf [360 KB] copyrighted

• 3D map reconstruction from range data
  D. Huber, O. Carmichael, and M. Hebert
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '00), Vol. 1, April, 2000, pp. 891 - 897. [Abstract]
  Download: pdf [648 KB] copyrighted