Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 38, Issue 1, Pages 372-390Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2021.3083197
Keywords
Computational modeling; Image reconstruction; Surface reconstruction; Solid modeling; Inspection; Three-dimensional displays; Planning; 3-D reconstruction; active sensing; multiview stereo; unmanned aerial vehicles; view path planning
Categories
Funding
- National Research Foundation of Korea (NRF) - Ministry of Education [2016R1D1A1B01013573]
- Institute of Information and Communications Technology Planning and Evaluation (IITP) - Korea Government [2019-0-01158]
- National Research Foundation of Korea [2016R1D1A1B01013573] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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This study proposes a novel view-path-planning method for 3-D scanning based on an online MVS reconstruction algorithm, which incrementally reconstructs the target model online and iteratively plans view paths by analyzing the current partial reconstructions. The method can construct a complete 3-D model in a single scanning trial without the need for rescanning.
This study addresses a view-path-planning problem during 3-D scanning of a large-scale structure based on multiview stereo (MVS) for unmanned aerial platforms. Recently, most studies have adopted an explore-then-exploit strategy for 3-D scanning. The strategy first generates a coarse model from a simple overhead scanning and then plans an inspection path to cover the entire surface of the coarse model. However, even though the inspection path may be optimal, it is difficult to guarantee a complete and accurate reconstruction result due to defective factors of MVS such as occlusions, textureless surfaces, and insufficient parallaxes. Furthermore, the entire procedure of this strategy is inefficiently slow because of path redundancies and long MVS processing time. Therefore, we propose a novel view-path-planning method for 3-D scanning based on an online MVS reconstruction algorithm. The suggested method incrementally reconstructs the target model online and iteratively plans view paths by analyzing the current partial reconstructions. The method continuously analyzes the quality of the model and detects inaccurately reconstructed surfaces. It then plans an inspection path that provides a complete coverage of the detected surfaces while maximizing the performance of MVS. This method can construct a complete 3-D model in a single scanning trial without the need for rescanning. Extensive experiments show that our method outperforms the other state-of-the-art methods, especially in terms of the model completeness of complex structures.
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