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Point cloud densification
Umeå University, Faculty of Science and Technology, Department of Physics.
2010 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Several automatic methods exist for creating 3D point clouds extracted from 2D photos. In manycases, the result is a sparse point cloud, unevenly distributed over the scene.After determining the coordinates of the same point in two images of an object, the 3D positionof that point can be calculated using knowledge of camera data and relative orientation. A model created from a unevenly distributed point clouds may loss detail and precision in thesparse areas. The aim of this thesis is to study methods for densification of point clouds.

This thesis contains a literature study over different methods for extracting matched point pairs,and an implementation of Least Square Template Matching (LSTM) with a set of improvementtechniques. The implementation is evaluated on a set of different scenes of various difficulty. LSTM is implemented by working on a dense grid of points in an image and Wallis filtering isused to enhance contrast. The matched point correspondences are evaluated with parameters fromthe optimization in order to keep good matches and discard bad ones. The purpose is to find detailsclose to a plane in the images, or on plane-like surfaces. A set of extensions to LSTM is implemented in the aim of improving the quality of the matchedpoints. The seed points are improved by Transformed Normalized Cross Correlation (TNCC) andMultiple Seed Points (MSP) for the same template, and then tested to see if they converge to thesame result. Wallis filtering is used to increase the contrast in the image. The quality of the extractedpoints are evaluated with respect to correlation with other optimization parameters and comparisonof standard deviation in x- and y- direction. If a point is rejected, the option to try again with a largertemplate size exists, called Adaptive Template Size (ATS).

Place, publisher, year, edition, pages
Keyword [en]
Image analysis, 3D reconstruction, LSTM
National Category
Computer Vision and Robotics (Autonomous Systems)
URN: urn:nbn:se:umu:diva-39980OAI: diva2:397062
Subject / course
Examensarbete i teknisk fysik
Educational program
Civilingenjörsprogrammet i teknisk fysik
Physics, Chemistry, Mathematics
Available from: 2011-02-11 Created: 2011-02-11 Last updated: 2012-03-22Bibliographically approved

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Forsman, Mona
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