Research: Point Based Graphics

3D Scanning

In this project we develop a robotic system that will be able to navigate in an unknown indoor environment in real-time and to generate a 3D point based reconstruction of the surrounding environment. Our approach is based solely on vision. A stereo camera is used to acquire images from different orientation angles. Feature points are detected inside these images and their 3D position is obtained by triangulation. 3D points acquired from different positions are integrated into a single point cloud using optimization techniques. The robot uses these point clouds as a basis for navigation. Unknown parts are explored so that  step by step a 3D point representation of the environment can be created.

In the following link we provide some sample datasets for evaluation purposes.

Research Datasets

Project Leader

Claudio Mura