Piecewise-Planar 3D Reconstruction with Edge and Corner Regularization

Abstract : This paper presents a method for the 3D reconstruction of a piecewise-planar surface from range images, typi-cally laser scans with millions of points. The reconstructed surface is a watertight polygonal mesh that conforms to observations at a given scale in the visible planar parts of the scene, and that is plausible in hidden parts. We formulate surface reconstruction as a discrete optimization problem based on detected and hypothesized planes. One of our major contributions, besides a treatment of data anisotropy and novel surface hypotheses, is a regu-larization of the reconstructed surface w.r.t. the length of edges and the number of corners. Compared to classical area-based regularization, it better captures surface complexity and is therefore better suited for man-made en-vironments, such as buildings. To handle the underlying higher-order potentials, that are problematic for MRF optimizers, we formulate minimization as a sparse mixed-integer linear programming problem and obtain an ap-proximate solution using a simple relaxation. Experiments show that it is fast and reaches near-optimal solutions.
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Computer Graphics Forum, Proceedings of EUROGRAPHICS Symposium on Geometry Processing, Blackwell Publishing, 2014, 33 (5), pp.55--64. 〈10.1111/cgf.12431〉
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Alexandre Boulch, Martin De La Gorce, Renaud Marlet. Piecewise-Planar 3D Reconstruction with Edge and Corner Regularization. Computer Graphics Forum, Proceedings of EUROGRAPHICS Symposium on Geometry Processing, Blackwell Publishing, 2014, 33 (5), pp.55--64. 〈10.1111/cgf.12431〉. 〈hal-01099280〉

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