Abstract
The automated 3D modeling of indoor spaces is a rapidly advancing field, in which recent developments have made the modeling process more accessible to consumers by lowering the cost of instruments and offering a highly automated service for 3D model creation. We compared the performance of three low-cost sensor systems; one RGB-D camera, one low-end terrestrial laser scanner (TLS), and one panoramic camera, using a cloud-based processing service to automatically create mesh models and point clouds, evaluating the accuracy of the results against a reference point cloud from a higher-end TLS. While adequately accurate results could be obtained with all three sensor systems, the TLS performed the best both in terms of reconstructing the overall room geometry and smaller details, with the panoramic camera clearly trailing the other systems and the RGB-D offering a middle ground in terms of both cost and quality. The results demonstrate the attractiveness of fully automatic cloud-based indoor 3D modeling for low-cost sensor systems, with the latter providing better model accuracy and completeness, and with all systems offering a rapid rate of data acquisition through an easy-to-use interface.
Highlights
Indoor 3D modeling has a large number of uses, including the planning of construction [1], the preservation of cultural heritage [2,3], and providing a basis for a virtual reality applications [4]
With the release of the Matterport Cloud 3.0 update in January 2019, data from Matterport’s proprietary RGB-D cameras, the Leica BLK360 laser scanner, and the Ricoh Theta V and Insta360 ONE X panoramic cameras can be integrated into one project from which a model and point cloud can be produced automatically [39]
The algorithm was set to finish once the root mean square error (RMSE) difference between two iterations was less than 10−5 m, as subsequent iterations would provide negligible benefit
Summary
Indoor 3D modeling has a large number of uses, including the planning of construction [1], the preservation of cultural heritage [2,3], and providing a basis for a virtual reality applications [4]. An increasing number of low-cost sensor systems for 3D modeling using different operating systems have entered the market [8,9]. Easy-to-use laser scanners for projects with moderate requirements for accuracy are available, including the Leica BLK360 [3]. A number of low-cost consumer-grade panoramic cameras have entered the market, allowing the user to capture a 360-degree view at once, reducing the number of images required to cover a scene [11]. Panoramic cameras have been used for the photogrammetric modeling of indoor spaces, with 3D models being possible to obtain through automatic processing, with camera calibration and the use of an optimized projection improving the model quality [12]
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