Incremental Rotation Averaging

MCSfM: Multi-Camera-Based Incremental Structure-From-Motion

Fully perceiving the surrounding world is a vital capability for autonomous robots. To achieve this goal, a multi-camera system is usually equipped on the data collecting platform and the structure from motion (SfM) technology is used for scene reconstruction. However, although incremental SfM achieves high-precision modeling, it is inefficient and prone to scene drift in large-scale reconstruction tasks. In this paper, we propose a tailored incremental SfM framework for multi-camera systems, where the internal relative poses between cameras can not only be calibrated automatically but also serve as an additional constraint to improve the system robustness. Previous multi-camera based modeling work has mainly focused on stereo setups or multi-camera systems with known calibration information, but we allow arbitrary configurations and only require images as input. First, one camera is selected as the reference camera, and the other cameras in the multi-camera system are denoted as non-reference cameras. Based on the pose relationship between the reference and non-reference camera, the non-reference camera pose can be derived from the reference camera pose and internal relative poses. Then, a two-stage multi-camera based camera registration module is proposed, where the internal relative poses are computed first by local motion averaging, and then the rigid units are registered incrementally. Finally, a multi-camera based bundle adjustment is put forth to iteratively refine the reference camera and the internal relative poses. Experiments demonstrate that our system achieves higher accuracy and robustness on benchmark data compared to the state-of-the-art SfM and SLAM (simultaneous localization and mapping) methods.

An Approach for 3D Modeling of the Regular Relief Surface Topography Formed by a Ball Burnishing Process Using 2D Images and Measured Profilograms

Advanced in the present paper is an innovative approach for three-dimensional modeling of the regular relief topography formed via a ball burnishing process. The proposed methodology involves capturing a greyscale image of and profile measuring the surface topography in two perpendicular directions using a stylus method. A specially developed algorithm further identifies the best match between the measured profile segment and a row or column from the captured topography image by carrying out a signal correlation assessment based on an appropriate similarity metric. To ensure accurate scaling, the image pixel grey levels are scaled with a factor calculated as being the larger ratio between the ultimate heights of the measured profilograms and the more perfectly matched image row/column. Nine different similarity metrics were tested to determine the best performing model. The developed approach was evaluated for eight distinct types of fully and partially regular reliefs, and the results reveal that the best-scaled 3D topography models are produced for the fully regular reliefs with much greater heights. Following a thorough analysis of the results obtained, at the end of the paper, we draw some conclusions and discuss potential future work.