Efficient and Precise Multi-Camera Reconstruction

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Werner, Tobias ; Henrich, Dominik:
Efficient and Precise Multi-Camera Reconstruction.
In: Proceedings of the International Conference on Distributed Smart Cameras. - Venezia Mestre, Italy , 2014 . - 23
DOI: https://doi.org/10.1145/2659021.2659066

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Human-robot cooperation requires efficient and precise geometric reconstruction of objects in any shared workspace to meet safety requirements. State-of-art solutions accept a trade-off to satisfy these requirements. Usually, this implies limited robot speed, expensive hardware, or low-precision input and output. In contrast, we present a novel multi-camera reconstruction approach that is both efficient and precise: We apply incremental and hierarchical algorithms to image preprocessing and visual hull reconstruction. Subsequent knowledge-based postprocessing refines the initial reconstruction. Given ground-truth input, we furthermore maintain conservative bounds of objects in the workspace. In total, our contribution satisfies real-time and anytime requirements even on modest hardware and for high-precision input and output. We validate this by synthetic and real-world experiments. Thus, our approach is suited for safety-, time-, and precision-critical reconstruction with applications in home robotics, surveillance, and industrial automation.