Enhancement of RGB-D image alignment using fiducial markers

• Autor(a) principal: Madeira, Tiago de Matos Ferreira
• Data de Publicação: 2019
• Tipo de documento: Dissertação
• Idioma: eng
• Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
• Texto Completo: http://hdl.handle.net/10773/29603
• topic: Computer Vision; Geometric Optimization; Camera Calibration; 3D Reconstruction; Inpainting; Fiducial Markers; Point Clouds; Projection of 3D points

3D reconstruction is the creation of three-dimensional models from the captured shape and appearance of real objects. It is a field that has its roots in several areas within computer vision and graphics, and has gained high importance in others, such as architecture, robotics, autonomous driving, medicine, and archaeology. Most of the current model acquisition technologies are based on LiDAR, RGB-D cameras, and image-based approaches such as visual SLAM. Despite the improvements that have been achieved, methods that rely on professional instruments and operation result in high costs, both capital and logistical. In this dissertation, we develop an optimization procedure capable of enhancing the 3D reconstructions created using a consumer level RGB-D hand-held camera, a product that is widely available, easily handled, with a familiar interface to the average smartphone user, through the utilisation of fiducial markers placed in the environment. Additionally, a tool was developed to allow the removal of said fiducial markers from the texture of the scene, as a complement to mitigate a downside of the approach taken, but that may prove useful in other contexts.