3D reconstruction of cuboid-shaped objects from labeled images
Name
870683582-MIT.pdf
Description
Full printable version
Size
3.94 MB
Format
Adobe PDF
Checksum (MD5)
c9f791d4ba18084d3d57aaf30dfd4ddd
Author(s)
Lee, Erika, M. Eng. Massachusetts Institute of Technology
Advisor(s)
Antonio Torralba.
Alternative Title
Three-D reconstruction of cuboid-shaped objects from labeled images
Three-dimensional reconstruction of cuboid-shaped objects from labeled images
Date Issued
2013
Publisher
Massachusetts Institute of Technology
Abstract
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.
Description
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2013.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 41-42).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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