3D reconstruction of cuboid-shaped objects from labeled images

[摘要] In this thesis, my goal is to determine a rectangular 3D cuboid that outlines the boundaries of a cuboid-shaped object shown in an image. The position of the corners of each cuboid are manually labeled, or annotated, in a 2D color image. Given the color image, the labels, and a 2D depth image of the same scene, an algorithm extrapolates a cuboid;;s 3D position, orientation, and size characteristics by minimizing two quantities: the deviation of each estimated corner;;s projected position from its annotated position in 2D space and the distance from each estimated surface to the observed points associated with that surface in 3D space. I found that this approach successfully estimated the 3D boundaries of a cuboid object for 72.6% of the cuboids in a data set of 1,089 manually-labeled cuboids in images taken from the SUN3D database.

[发布机构] Massachusetts Institute of Technology