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Modeling and Simulation in Engineering, ch. 1. Image-laser fusion for in situ 3D modeling of complex environments: A 4D panoramic-driven approach / Daniela Craciun (2012)  

Public Titre de série : Modeling and Simulation in Engineering, ch. 1 Titre : Image-laser fusion for in situ 3D modeling of complex environments: A 4D panoramic-driven approach Type de document : Chapitre/Contribution Auteurs : Daniela Craciun , Auteur ; Nicolas Paparoditis , Auteur ; Francis Schmitt, Auteur Editeur : London [UK] : IntechOpen Année de publication : 2012 Importance : pp 3 - 28 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications photogrammétriques [Termes IGN] alignement des données [Termes IGN] chaîne de traitement [Termes IGN] données 4D [Termes IGN] données lidar [Termes IGN] données localisées 3D [Termes IGN] estimation de pose [Termes IGN] grotte [Termes IGN] image panoramique [Termes IGN] modèle 3D du site [Termes IGN] mosaïquage d'images [Termes IGN] rendu réaliste [Termes IGN] site archéologique [Termes IGN] texturage Résumé : (auteur) [introduction] One might wonder what can be gained from the image-laser fusion and in which measure such a hybrid system can generate automatically complete and photorealist 3D models of difficult to access and unstructured underground environments. Our research work is focused on developing a vision-based system aimed at automatically generating in-situ photorealist 3D models in previously unknown and unstructured underground environments from image and laser data. In particular, we are interested in modeling underground prehistoric caves. In such environments, special attention must be given to the main issue standing behind the automation of the 3D modeling pipeline which is represented by the capacity to match reliably image and laser data in GPS-denied and feature-less areas. In addition, time and in-situ access constraints require fast and automatic procedures for in-situ data acquisition, processing and interpretation in order to allow forin-situ verification of the 3D scene model completeness. Finally, the currently generated 3D model represents the only available information providing situational awareness based on which autonomous behavior must be built in order to enable the system to act intelligently on-the-fly and explore the environment to ensure the 3D scene model completeness. This chapter evaluates the potential of a hybrid image-laser system for generating in-situ complete and photorealist 3D models of challenging environments, while minimizing human operator intervention. The presented research focuses on two main aspects: (i) the automation of the 3D modeling pipeline, targeting the automatic data matching in feature-less and GPS-denied areas for in-situ world modeling and (ii) the exploitation of the generated 3Dmodels along with visual servoing procedures to ensure automatically the 3D scene model completeness. We start this chapter by motivating the jointly use of laser and image data and by listing the main key issues which need to be addressed when aiming to supply automatic photorealist3D modeling tasks while coping with time and in-situ access constraints. The next four sections are dedicated to a gradual description of the 3D modeling system in which we project the proposed image-laser solutions designed to be embedded onboard mobile plateforms, providing them with world modeling capabilities and thus visual perception. This is an important aspect for the in-situ modeling process, allowing the system to be aware and to act intelligently on-the-fly in order to explore and digitize the entire site. For this reason, we introduce it as ARTVISYS, the acronym for ARTificial VIsion-based SYStems. Numéro de notice : H2012-003 Affiliation des auteurs : MATIS+Ext (1993-2011) Autre URL associée : autre adresse Thématique : IMAGERIE/INFORMATIQUE Nature : Chapître / contribution nature-HAL : ChOuvrScient DOI : 10.5772/30269 Date de publication en ligne : 07/03/2012 En ligne : https://doi.org/10.5772/30269 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97390