Efficient 3D Scene Modeling and Mosaicing

  • Tudor Nicosevici
  • Rafael Garcia

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 87)

Table of contents

  1. Front Matter
    Pages 1-17
  2. Tudor Nicosevici, Rafael Garcia
    Pages 1-11
  3. Tudor Nicosevici, Rafael Garcia
    Pages 13-38
  4. Tudor Nicosevici, Rafael Garcia
    Pages 39-86
  5. Tudor Nicosevici, Rafael Garcia
    Pages 87-125
  6. Tudor Nicosevici, Rafael Garcia
    Pages 127-142
  7. Tudor Nicosevici, Rafael Garcia
    Pages 143-146
  8. Back Matter
    Pages 147-160

About this book


This book proposes a complete pipeline for monocular (single camera) based 3D mapping of terrestrial and underwater environments. The aim is to provide a solution to large-scale scene modeling that is both accurate and efficient. To this end, we have developed a novel Structure from Motion algorithm that increases mapping accuracy by registering camera views directly with the maps. The camera registration uses a dual approach that adapts to the type of environment being mapped.


In order to further increase the accuracy of the resulting maps, a new method is presented, allowing detection of images corresponding to the same scene region (crossovers). Crossovers then used in conjunction with global alignment methods in order to highly reduce estimation errors, especially when mapping large areas. Our method is based on Visual Bag of Words paradigm (BoW), offering a more efficient and simpler solution by eliminating the training stage, generally required by state of the art BoW algorithms.


Also, towards developing methods for efficient mapping of large areas (especially with costs related to map storage, transmission and rendering in mind), an online 3D model simplification algorithm is proposed. This new algorithm presents the advantage of selecting only those vertices that are geometrically representative for the scene.


3D Mapping 3D Model Optimization Mosaicing Optical Mapping Robotics SLAM Structure from MOTION Vision only Navigation and Localization Visual Vocabularies

Authors and affiliations

  • Tudor Nicosevici
    • 1
  • Rafael Garcia
    • 2
  1. 1., Computer Vision and Robotics GroupUniversity of GironaGironaSpain
  2. 2., Computer Vision and Robotics GroupUniversity of GironaGironaSpain

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2013
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-642-36417-4
  • Online ISBN 978-3-642-36418-1
  • Series Print ISSN 1610-7438
  • Series Online ISSN 1610-742X
  • Buy this book on publisher's site
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