Recovering 3D Structure of Poorly Textured Infrastructure Scenes Using Point and Line Features

Fathi, H and Brilakis, I (2012) Recovering 3D Structure of Poorly Textured Infrastructure Scenes Using Point and Line Features. In: the 2012 ASCE International Workshop on Computing in Civil Engineering, 17-6-2012 to 20-6-2012, Clearwater Beach, FL, United States of America pp. 170-177..

Abstract

Most of the existing automated machine vision-based techniques for as-built documentation of civil infrastructure utilize only point features to recover the 3D structure of a scene. However it is often the case in man-made structures that not enough point features can be reliably detected (e.g. buildings and roofs); this can potentially lead to the failure of these techniques. To address the problem, this paper utilizes the prominence of straight lines in infrastructure scenes. It presents a hybrid approach that benefits from both point and line features. A calibrated stereo set of video cameras is used to collect data. Point and line features are then detected and matched across video frames. Finally, the 3D structure of the scene is recovered by finding 3D coordinates of the matched features. The proposed approach has been tested on realistic outdoor environments and preliminary results indicate its capability to deal with a variety of scenes.

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