Abstract
Abstract. Three-dimensional modelling plays a vital role in indoor 3D tracking, navigation, guidance and emergency evacuation. Reconstruction of indoor 3D models is still problematic, in part, because indoor spaces provide challenges less-documented than their outdoor counterparts. Challenges include obstacles curtailing image and point cloud capture, restricted accessibility and a wide array of indoor objects, each with unique semantics. Reconstruction of indoor environments can be achieved through a photogrammetric approach, e.g. by using image frames, aligned using recurring corresponding image points (CIP) to build coloured point clouds. Our experiments were conducted by flying a QUAV in three indoor environments and later reconstructing 3D models which were analysed under different conditions. Point clouds and meshes were created using Agisoft PhotoScan Professional. We concentrated on flight paths from two vantage points: 1) safety and security while flying indoors and 2) data collection needed for reconstruction of 3D models. We surmised that the main challenges in providing safe flight paths are related to the physical configuration of indoor environments, privacy issues, the presence of people and light conditions. We observed that the quality of recorded video used for 3D reconstruction has a high dependency on surface materials, wall textures and object types being reconstructed. Our results show that 3D indoor reconstruction predicated on video capture using a QUAV is indeed feasible, but close attention should be paid to flight paths and conditions ultimately influencing the quality of 3D models. Moreover, it should be decided in advance which objects need to be reconstructed, e.g. bare rooms or detailed furniture.
Highlights
Three-dimensional modeling is critical for a variety of indoor applications including 3D tracking (Sebe et al, 2004), 3D navigation (Li and He, 2008), 3D guidance (Hagedorn et al, 2009), emergency evacuation (Lee and Zlatanova, 2008) and robotic applications (Hornung et al, 2013)
The reconstruction of indoor 3D models is still problematic seeing as image and point cloud capture in indoor spaces presents a different set of challenges than outdoor spaces
This paper investigates challenges in designing flight paths for video capture using a Quadrotor Unmanned Aerial Vehicle (QUAV), the Parrot Bebop 2
Summary
Three-dimensional modeling is critical for a variety of indoor applications including 3D tracking (Sebe et al, 2004), 3D navigation (Li and He, 2008), 3D guidance (Hagedorn et al, 2009), emergency evacuation (Lee and Zlatanova, 2008) and robotic applications (Hornung et al, 2013). The reconstruction of indoor 3D models is still problematic seeing as image and point cloud capture in indoor spaces presents a different set of challenges than outdoor spaces Examples of these challenges include physical constraints hindering movement (Li, 2008)(Yang and Worboys, 2011a), restricted accessibility, scale/dimensions of indoor spaces (Yang and Worboys, 2011b) and recognition of types of objects with different semantics (Stoffel et al, 2007). These challenges hamper attempts at automation of reconstruction of indoor 3D models (Zlatanova et al, 2013).
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