Space-time texture used!


Again, we were recently working on a project involving a robot and a colleague’s (David Lovi’s) free space carving to acquire a coarse seen model. The model is fine as a proxy for view-dependent texturing (e.g., lab-flythrough):

But to generate a figure it is nice to have a single texture map. Since the geometry is course, a simple averaging is out of the question:

mergedAfter some minor updates to my initial implementation (to take into account the fact that all images were inside the model), the space-time texture map (idea anyhow) seems to work pretty good. Remember that this assigns a single image to each triangle, but it does so in a manner that tries to assign neighboring triangles values that agree with one another while ensuring that the triangle projects to a large area in the chosen image.

texOf course the texture coordinates above are not the greatest. The texture was generated from some 60 keyframes. The vantage points below give you an idea of the quality of the texture:

lab-single-tex

Again, the model is coarse (obtained from key-points and carving), but space-time texture map idea works pretty good to get a single texture.

The data for the model was obtained with the prototype system (described in this video http://www.neilbirkbeck.com/wp/wp-content/uploads/2010/03/IROS_predisp.mp4)

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