Verification for 3D reconstruction of stairs using artificial image data

人工画像データを使用した階段の三次元復元検証

中村 啓太; 馬場 啓多*; 吉川 拓真*; 羽成 敏秀 ; 川端 邦明   ; 松本 拓  

Nakamura, Keita; Baba, Keita*; Yoshikawa, Takuma*; Hanari, Toshihide; Kawabata, Kuniaki; Matsumoto, Taku

It is generally difficult to measure complex shapes such as stairs with high accuracy for indoor environment scanning by the robot. Therefore, we consider the 3D (three-dimensional) reconstruction of stairs using SfM (Structure from Motion) and MVS (Multi-View Stereo) which perform 3D reconstruction from images acquired by the robot vision. In this study, we verify whether it is possible to acquire a 3D reconstruction result of stairs by using images shot while ascending and descending the stairs as input to the reconstruction method. To calculate the accuracy of the reconstruction result, we use 3D computer graphics software to generate artificial image data to be applied to the 3D reconstruction. Experimental results show that 3D reconstruction results of the stairs are more accurate by applying both images shot when ascending and descending stairs to the 3D reconstruction methods.