Photogrammabot: An Autonomous ROS-Based Mobile Photography Robot for Precise 3D Reconstruction and Mapping of Large Indoor Spaces for Mixed Reality | TU Wien

Information

Publication Type: Conference Paper
Workgroup(s)/Project(s):
- Advanced Computational Design
Date: April 2022
ISBN: 978-1-6654-8403-9
Publisher: IEEE
Location: Christchurch
Lecturer: Soroosh Mortezapoor
Event: 2022 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW)
DOI: 10.1109/VRW55335.2022.00033
Booktitle: Proceedings of 2022 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW)
Pages: 7
Conference date: 12. March 2022 – 16. March 2022
Pages: 101 – 107
Keywords: 3D reconstruction, Artificial intelligence, automation, autonomous mobile robot, Computer systems organization, Computer vision, Computing methodologies, Embedded and cyberphysical systems, fiducial marker tracking, Human computer interaction (HCI), Human computer interaction (HCI), Human-centered computing, Human-centered computing, Interaction paradigms, mixed-reality, Mixed/augmented reality, Photogrammetry, Reconstruction, Robotic autonomy, Robotics, ROS, Virtual reality

Abstract

Precise 3D reconstruction of environments and real objects for Mixed-Reality applications can be burdensome. Photogrammetry can help to create accurate representations of actual objects in the virtual world using a high number of photos of a subject or an environment. Photogrammabot is an affordable mobile robot that facilitates photogrammetry and 3D reconstruction by autonomously and systematically capturing images. It explores an unknown indoor environment and uses map-based localization and navigation to maintain camera direction at different shooting points. Photogrammabot employs a Raspberry Pi 4B and Robot Operating System (ROS) to control the exploration and capturing processes. The photos are taken using a point-and-shoot camera mounted on a 2-DOF micro turret to enable photography from different angles and compensate for possible robot orientation errors to ensure parallel photos. Photogrammabot has been designed as a general solution to facilitate precise 3D reconstruction of unknown environments. In addition we developed tools to integrate it with and extend the Immersive Deck™ MR system [23], where it aids the setup of the system in new locations.

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BibTeX

@inproceedings{mortezapoor-2022-photogrammabot,
  title =      "Photogrammabot: An Autonomous ROS-Based Mobile Photography
               Robot for Precise 3D Reconstruction and Mapping of Large
               Indoor Spaces for Mixed Reality",
  author =     "Soroosh Mortezapoor and Christian Sch\"{o}nauer and Julien
               R\"{u}ggeberg and Hannes Kaufmann",
  year =       "2022",
  abstract =   "Precise 3D reconstruction of environments and real objects
               for Mixed-Reality applications can be burdensome.
               Photogrammetry can help to create accurate representations
               of actual objects in the virtual world using a high number
               of photos of a subject or an environment. Photogrammabot is
               an affordable mobile robot that facilitates photogrammetry
               and 3D reconstruction by autonomously and systematically
               capturing images. It explores an unknown indoor environment
               and uses map-based localization and navigation to maintain
               camera direction at different shooting points.
               Photogrammabot employs a Raspberry Pi 4B and Robot Operating
               System (ROS) to control the exploration and capturing
               processes. The photos are taken using a point-and-shoot
               camera mounted on a 2-DOF micro turret to enable photography
               from different angles and compensate for possible robot
               orientation errors to ensure parallel photos. Photogrammabot
               has been designed as a general solution to facilitate
               precise 3D reconstruction of unknown environments. In
               addition we developed tools to integrate it with and extend
               the Immersive Deck™ MR system [23], where it aids the
               setup of the system in new locations.",
  month =      apr,
  isbn =       "978-1-6654-8403-9",
  publisher =  "IEEE",
  location =   "Christchurch",
  event =      "2022 IEEE Conference on Virtual Reality and 3D User
               Interfaces Abstracts and Workshops (VRW)",
  doi =        "10.1109/VRW55335.2022.00033",
  booktitle =  "Proceedings of 2022 IEEE Conference on Virtual Reality and
               3D User Interfaces Abstracts and Workshops (VRW)",
  pages =      "7",
  pages =      "101--107",
  keywords =   "3D reconstruction, Artificial intelligence, automation,
               autonomous mobile robot, Computer systems organization,
               Computer vision, Computing methodologies, Embedded and
               cyberphysical systems, fiducial marker tracking, Human
               computer interaction (HCI), Human computer interaction
               (HCI), Human-centered computing, Human-centered computing,
               Interaction paradigms, mixed-reality, Mixed/augmented
               reality, Photogrammetry, Reconstruction, Robotic autonomy,
               Robotics, ROS, Virtual reality",
  URL =        "https://www.cg.tuwien.ac.at/research/publications/2022/mortezapoor-2022-photogrammabot/",
}