PRECISE AND DENSE AI-BASED MOBILE 3D RECONSTRUCTION OF INDOOR SCENES BY CAMERA-LIDAR FUSION AND ODOMETRY
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Conference Name
2022 European Conference on Computing in Construction
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Trzeciak, M., & Brilakis, I. PRECISE AND DENSE AI-BASED MOBILE 3D RECONSTRUCTION OF INDOOR SCENES BY CAMERA-LIDAR FUSION AND ODOMETRY. 2022 European Conference on Computing in Construction. https://doi.org/10.17863/CAM.85071
Abstract
We propose a mobile 3D reconstruction method for improving the precision and density of point clouds. It is suitable for hand-held scanners comprised of a colour camera and a lidar. We fuse time-synchronized and spatially registered images and lidar sweeps using deep learning techniques into dense scans, which are then used for progressive reconstruction in an odometry-like manner. We build a prototypic scanner and test our method in an indoor case-study. The results show that our pipeline outperforms reconstructions by other devices and methods, yielding relatively denser and detail-preserving point clouds with a 46% reduction in noise of reconstructed planar surfaces.
Embargo Lift Date
2023-06-01
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External DOI: https://doi.org/10.17863/CAM.85071
This record's URL: https://www.repository.cam.ac.uk/handle/1810/337665
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