Difference between revisions of "TLV3D"

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== what already exists ==
== what already exists ==
=== Under open licenses (CC / other) ===
=== Under open licenses (CC / other) ===
?
http://openslam.org/ seems to be parking space for slam projects - so far haven't found any full solutions here.
 
point cloud library http://docs.pointclouds.org/trunk/a02944.html
=== Other not open licenses ===
=== Other not open licenses ===
[http://metroscape3d.com/MetroscapePage.html metroscape] has 3d models of a few tens of  bldgs in tlv
[http://metroscape3d.com/MetroscapePage.html metroscape] has 3d models of a few tens of  bldgs in tlv
Line 39: Line 41:
see here > https://code.google.com/p/structured-light/
see here > https://code.google.com/p/structured-light/


=== maker scanner ===
15000ansi projector - its 100nis per 1000 lumans per day
i tried that method and it works well, but you can't be moving to much.
you need to hit the same geometry 3 times with different "binary" patterns.
 
=== stereo (camera + laser, use parallex) maker scanner ===
an opensource diy scanner [http://www.makerscanner.com/ here]
an opensource diy scanner [http://www.makerscanner.com/ here]
=== Time of Flight ===
Cheap LiDARs (relatively) @[http://www.hokuyo-aut.jp/02sensor/07scanner/urg_04lx_ug01.html Hokuyo]
* 10m distance (this model, there are others, maybe 30m? also indoors/outdoors differs)
[http://www.st.com/st-web-ui/static/active/en/resource/technical/document/data_brief/DM00078006.pdf?s_searchtype=keyword VL6180] by ST.
=== Structure from Motion (SfM) ===
[http://ccwu.me/vsfm/ Wikipedia] article.
Not necessarily with an IMU, just a camera.
* VisualSFM http://ccwu.me/vsfm/
* Bundler http://ccwu.me/vsfm/
* libmv, looks defunct http://ccwu.me/vsfm/
* Python photogrametry toolbox http://www.arc-team.homelinux.com/arcteam/ppt.php
* open multiple view geometry library http://ccwu.me/vsfm/
= Hardware =
== Cameras ==
* http://www.mightexsystems.com/family_info.php?cPath=1_252_273&categories_id=273
* http://www.ptgreystore.com/ - mighty expensive (650$ for USB 3.0 camera, but 64x64 350 fps is interesting - although not for this :)
* sphirical cameras, like [http://www.ptgrey.com/products/ladybug2/ladybug2_360_video_camera.asp ladybug] give 360 video feed
= Map Stitching =
* http://mapknitter.org/
= Monocular Slam =
Monocular is a code word for a single camera, here is a list of algorithms, software has still not been tested.
Input is a bunch of camera images, offline or online (we don't need online, but a lot of the algorithms are developed for real time augmented reality applications).
Google: SLAM with camera
* http://answers.ros.org/question/9091/slam-with-one-camera/
* [http://openslam.org/ekfmonoslam.html EKFMonoSlam]
* [http://wiki.ros.org/ScaViSLAM ScaViSLAM] - <i>At the moment it supports calibrated stereo rigs, and RGB-D cameras. Monocular SLAM is NOT supported (yet).</i> [https://github.com/strasdat/ScaViSLAM/blob/master/README github]
* [http://www.robots.ox.ac.uk/~mobile/wikisite/pmwiki/pmwiki.php?n=Software.FABMAP FABMAP]
* [http://www.robots.ox.ac.uk/~gk/PTAM/ PTAM] [http://ewokrampage.wordpress.com/ blog] non-commercial GPL (possible??) on [https://github.com/Oxford-PTAM/PTAM-GPL github]. 2013.
* [http://www.doc.ic.ac.uk/~ajd/Scene/ SceneLib] the original? Andrew Davidson & Paul Smith

Latest revision as of 22:46, 16 February 2014

TLV3D

The idea - to map TLV in 3D using any means possible.

We maintain the data on official TAMI superclusters and release it as emperors of the digital realm.

Alon translation: open data map of Tel Aviv (same license as openstreetmaps).

what already exists

Under open licenses (CC / other)

http://openslam.org/ seems to be parking space for slam projects - so far haven't found any full solutions here.

point cloud library http://docs.pointclouds.org/trunk/a02944.html

Other not open licenses

metroscape has 3d models of a few tens of bldgs in tlv

  • requires windows/mac for the plugin, and no download link for any model (STL/other). -- Alon

googleearth has also a few tens of tlv buildings

Googeearth.jpg

will google come and nail it all down ? if we scoop them we get to ride in the google helicopter.

how to

The 3d scanners such as mantis and kinect are apparently not set up for long ranges like 10-50m which is what we're after to get buildings. Satellite photos probably are not of help here due to shallow angles and probable closed source-ness. A quadcopter may be of use but would take massive time and batteries. Rough order of magnitude of the problem:

one street every 50m

about 20km^2 of area in TLV

--> 800 km of street in TLV

--> a car / bike mounted 3d scanner is needed.

photogeometry

from several cameras with known relative angles and baseline, reconstruct 3d info using known algorithms

structured light

try to obtain 3d info from a large-ified kinect hack

it is possible to build a massive structured light rig, using a 3000+ ansi projector and a DSLR.
see here > https://code.google.com/p/structured-light/

15000ansi projector - its 100nis per 1000 lumans per day i tried that method and it works well, but you can't be moving to much. you need to hit the same geometry 3 times with different "binary" patterns.

stereo (camera + laser, use parallex) maker scanner

an opensource diy scanner here

Time of Flight

Cheap LiDARs (relatively) @Hokuyo

  • 10m distance (this model, there are others, maybe 30m? also indoors/outdoors differs)

VL6180 by ST.

Structure from Motion (SfM)

Wikipedia article.

Not necessarily with an IMU, just a camera.

Hardware

Cameras

Map Stitching


Monocular Slam

Monocular is a code word for a single camera, here is a list of algorithms, software has still not been tested.

Input is a bunch of camera images, offline or online (we don't need online, but a lot of the algorithms are developed for real time augmented reality applications).

Google: SLAM with camera