Feature-based laser data simplification for low polygon visualization

Pamela Fox, pfox@usc.edu Shirish Doshi, shirishd@usc.edu Suya You, suyay@usc.edu Ulrich Neumann, uneumann@imsc.usc.edu

Integrated Media Systems Center University of Southern California

• Objective • Related Work • Our Approach
– Pre-processing: Polygon Reduction – Simplification into Primitives

• • • •

Results Extension to outdoor/mixed scenes Future Work Conclusion

• Simplified representation of scanned laser (range) data from indoor scenes • Problems: Too many triangles, too many holes, not enough memory! • Original application for RFID tracking

• urban planning • virtual reality based geographics information system (VRGIS) • environment monitoring • military missions • Video game mods

Related Work – Polygon Reduction
• Tim Garthwaite, Jason Reposa. “Mesh Decimation.” • Mathieu Desbruin. “Variational Shape Approximation.” University of Southern California

Related Work – Indoor Scenes
• Rui Wang, David Luebke. “Efficient Reconstruction of Indoor Scenes with Color” Department of Computer Science, University of Virginia • R.T. Whitaker, J. Gregor, P.F. Chen . “Indoor Scene Reconstruction from Sets of Noisy Range Images” University of Tennessee

Related Work – Laser Data Simplification • “Urban Site Modeling from LiDAR” – Suya You, Jinhui Hu, Ulrich Neumann, Pamela Fox • Designed for buildings on land, laser data taken from aerial view, less dimensions

Our Approach – 2 Steps
• Polygon Reduction for
Corner/Edge (Feature) retention

• Further simplification of preprocessed scenes into geometric primitives based on indoor constraints and user-selected features

planar • Standard Region area Growing Algorithm

1) Pre-processing: Polygon Reduction

• Retain neighbors near corners & edges so we can use corner-finding algorithm in next step

non-planar area and neighbors

2) Simplification into Primitives
• Indoor Constraints: • Standard components of indoor scene: • User firsts selects ground, ceiling, walls
•When creating other objects in room, user can project to ground, ceiling, walls, or any pre-created object (e.g. a table) •This means you often need only to select points on the frontal view of – floor, ceiling, walls – Least squares plane fitting algorithm, points

2) Simplification into Primitives
• Primitive Creation:
– User selects minimally necessary points – Depends on type of primitive and available data

• Corner locating:
– If user can’t determine exact corner, they can select a nearby corner and let program use Kmeans clustering algorithm to determine most likely corner

• 99.9% lossy “compression”
– 520,000 to 1,200 triangles

• Texturing, lighting

• The user is not forced to tell the program a ground or ceiling or walls – so they can bypass those steps and simply use the primitive creation tools. So you can use the program to make simplified representations of any scenes that can be reduced to geometric primitives or customized preset objects. • For example, if you’re reducing a scene with trees, there could be two preset tree primitives – evergreen, deciduous. Then when you see a tree in the laser data you’d select the height, the end of the greenery, radius, and project it to the ground.

Extension to Outdoor/Mixed Scenes

Future Work
• add on increased automation – like advanced primitive fitting where the user would have to select less points and the program would search the surrounding points to fit it. • Other extensions could use intensity data as well to help with user or program segmentation – currently all triangles colored the same.

• Fast loading and visualization • Semiautomated method • Built off existing graphics software

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