grapp2014 presentation
TRANSCRIPT
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Automatic Generation of Structural BuildingDescriptions from 3D Point Cloud Scans
GRAPP 2014 – Paper ID 54
Sebastian [email protected]
University of Bonn, Germany
January 6th, 2014
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Introduction
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Strong trend in architecture towards Building Information Modeling(BIM) for planning, facility management, and retrofitting purposes.
• In addition to geometry also includes meta data and entityrelations.
• BIM models not readily available for older buildings, stilldesirable, e.g. for renovation planning.
Image from http://www.digital210king.org/
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Strong trend in architecture towards Building Information Modeling(BIM) for planning, facility management, and retrofitting purposes.
• In addition to geometry also includes meta data and entityrelations.
• BIM models not readily available for older buildings, stilldesirable, e.g. for renovation planning.
Image from http://www.digital210king.org/
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Strong trend in architecture towards Building Information Modeling(BIM) for planning, facility management, and retrofitting purposes.
• In addition to geometry also includes meta data and entityrelations.
• BIM models not readily available for older buildings, stilldesirable, e.g. for renovation planning.
Image from http://www.digital210king.org/
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Increasing availability and usage of laser scans as a startingpoint/guide for BIM generation.
• Point clouds lack structure, making BIM generation a highlymanual, time-consuming process.
• Automatic methods for structural and semantic analysis ofpoint clouds are essential.
Image from http://www.digital210king.org/
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Increasing availability and usage of laser scans as a startingpoint/guide for BIM generation.
• Point clouds lack structure, making BIM generation a highlymanual, time-consuming process.
• Automatic methods for structural and semantic analysis ofpoint clouds are essential.
Image from http://www.digital210king.org/
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Increasing availability and usage of laser scans as a startingpoint/guide for BIM generation.
• Point clouds lack structure, making BIM generation a highlymanual, time-consuming process.
• Automatic methods for structural and semantic analysis ofpoint clouds are essential.
Image from http://www.digital210king.org/
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
This paper presents an approach for room segmentation andopening detection from indoor point clouds.
• Facilitates navigation within and handling of point clouds,enables highlighting/hiding of individual rooms.
• Automatic placement of doors, approximation of room areas.
• Enables retrieval of room constellations (graph queries).
Partial scan of Kronborg castle (Denmark); room segmentation and detected connections between rooms are shown.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
This paper presents an approach for room segmentation andopening detection from indoor point clouds.
• Facilitates navigation within and handling of point clouds,enables highlighting/hiding of individual rooms.
• Automatic placement of doors, approximation of room areas.
• Enables retrieval of room constellations (graph queries).
Partial scan of Kronborg castle (Denmark); room segmentation and detected connections between rooms are shown.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
This paper presents an approach for room segmentation andopening detection from indoor point clouds.
• Facilitates navigation within and handling of point clouds,enables highlighting/hiding of individual rooms.
• Automatic placement of doors, approximation of room areas.
• Enables retrieval of room constellations (graph queries).
Partial scan of Kronborg castle (Denmark); room segmentation and detected connections between rooms are shown.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
This paper presents an approach for room segmentation andopening detection from indoor point clouds.
• Facilitates navigation within and handling of point clouds,enables highlighting/hiding of individual rooms.
• Automatic placement of doors, approximation of room areas.
• Enables retrieval of room constellations (graph queries).
Partial scan of Kronborg castle (Denmark); room segmentation and detected connections between rooms are shown.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Related Work
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Turner and Zakhor: Floor Plan Generation and Room Labeling ofIndoor Environments from Laser Range Data (GRAPP 2014 –yesterday)
Image by Turner and Zakhor
• Generation of triangulated floor plan from 2D or 3D point cloud.
• Room labeling formulated as graph-cut problem.
• Generation of 2.5D, watertight models with room segmentation.
N.B.: This paper is not included in the related work of our paper as it was published after submission deadline.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Mura et al.: Robust Reconstruction of Interior Building Structureswith Multiple Rooms under Clutter and Occlusions(CAD/Graphics, November 2013)
Image by Mura et al.
• Generation of 2D cell complex from wall candidates.
• Diffusion embedding of 2D cell complex for clustering rooms.
N.B.: This paper is not included in the related work of our paper as it was published after submission deadline.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Room Segmentation
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
First goal: Segmentation of point cloud into rooms.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Starting point: Multiple separate, registered point cloud scans,including scanner positions.
Idea: Use point-to-scanner assignments as initial, coarse “guess”for room segmentation.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Idea: Resolve incorrect labelings by determining which room labelsare most visible from a certain point.
E.g., a “red” point inside of the “green” room is likely to be partof the green room because it “sees” mostly green points.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Note on initial “point-to-scan” labeling:Scans belonging to the same room need to be merged.
Currently done manually; automatic merging suggestions may begiven (see paper).
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Note on visibility measure between points
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Detect planar structures1 with (smoothed) occupancy bitmaps.
1Schnabel et al.: Efficient RANSAC for Point-Cloud Shape Detection (2007).
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Estimate visibility (value in [0, 1]) between two points by testingfor intersections with the planes.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Let vj(xk) be an “average” visibility from point k to all pointscurrently assigned to room j (see paper for details).
Point k
Room j
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Formulation of relabeling as probabilistic clustering problem.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Formulation of relabeling as probabilistic clustering problem.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Formulation of relabeling as probabilistic clustering problem.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Formulation of relabeling as probabilistic clustering problem.
Room prior (governed by "room size")
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Formulation of relabeling as probabilistic clustering problem.
Room prior (governed by "room size")
Class-conditional probability of k'th point(governed by "average visibility" of room)
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Formulation of relabeling as probabilistic clustering problem.
Room prior (governed by "room size")
Class-conditional probability of k'th point(governed by "average visibility" of room)
Room priorClass-cond. prob.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Example for iterative relabeling procedure.
Iteration 0/7 (initial situation)
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Example for iterative relabeling procedure.
Iteration 1/7
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Example for iterative relabeling procedure.
Iteration 2/7
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Example for iterative relabeling procedure.
Iteration 3/7
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Example for iterative relabeling procedure.
Iteration 4/7
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Example for iterative relabeling procedure.
Iteration 5/7
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Example for iterative relabeling procedure.
Iteration 6/7
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Example for iterative relabeling procedure.
Iteration 7/7
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Door Detection
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Second goal: Find openings (e.g. doors) between adjacent rooms;construct room connectivity graph, e.g. for enabling retrieval.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Observation: Openings cause overlaps between scans.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
The relabeling process has just resolved these overlaps.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Extract scanner-to-point rays corresponding to relabeled points.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Determine intersection points of rays with detected planes.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Extract pairs of intersection points to approximate openings.
Estimated doorposition and size
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Results & Conclusion
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
5 scans of Kronborg castle, Denmark.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
5 scans of Kronborg castle, Denmark.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
6 scans of Kronborg castle, Denmark.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
6 scans of Kronborg castle, Denmark.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
14 scans of a building in Denmark.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
14 scans of a building in Denmark.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
14 scans of a building in Denmark.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
14 scans of a building in Denmark.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
14 scans of Oslo bispeg̊ard.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
14 scans of Oslo bispeg̊ard.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
14 scans of Oslo bispeg̊ard.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
14 scans of Oslo bispeg̊ard.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Limitations: Highly non-convex rooms cause problems.
Part of Risløkka trafikkstasjon, Oslo.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Problem:
• Assumption that (almost) all points of a room are visible fromany point within that room is violated.
Possible solution (also see next slides):
• Use (possibly indirect) “reachability” instead of visibility.
• Take into account not only direct line-of-sight but alsoindirect connections, allowing to “see around corners”.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Problem:
• Assumption that (almost) all points of a room are visible fromany point within that room is violated.
Possible solution (also see next slides):
• Use (possibly indirect) “reachability” instead of visibility.
• Take into account not only direct line-of-sight but alsoindirect connections, allowing to “see around corners”.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Future Work
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Improved room segmentation, also works on non-convex datasets.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Note: Opening detection is not restricted to doors.
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Introduction Related Work Room Segmentation Door Detection Results & Conclusion Future Work
Note: Opening detection is not restricted to doors.
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ACKNOWLEDGEMENTS
We would like to thank Henrik Leander Evers for the scansof Kronborg Castle, Denmark, and the Faculty of Archi-tecture and Landscape Sciences of Leibniz University Han-nover for providing the 3D building models that were usedfor generating the synthetic data. This work was partiallyfunded by the European Communitys Seventh FrameworkProgramme (FP7/2007-2013) under grant agreement no.600908 (DURAARK) 2013-2016