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1

Crime scene reconstruction with RGB-D sensors

Amamra Abdenour, Amara Yacine, Boumaza Khalid, Benayad Aissa

Annals of Computer Science and Information Systems

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2019

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Vol. 18

391-–396

EN

Photographic surveying, a fundamental procedure in crime investigation, is typically performed using 2D cameras. Although useful, such cameras remain limited due to the lack of depth information. In this work, we propose a 3D reconstruction solution that leverages the advantages of cheap RGB-D sensors to create a 3D model of the crime scene and to provide the investigator with an interactive crime scenario simulation environment. A structure from motion approach is proposed in order to align the captured point clouds on each other using 3D key points. An iterative refinement and a global optimization algorithm are later adapted for the optimization of the registered 3D model, which is then triangulated before the underlying surface is reconstructed. The resulting model is used for interactive crime investigation and object dynamics simulation. The obtained results show the effectiveness of our solution with a visually appealing rendering, an accurate simulation and a quantitative error of less than 18cm for the $4m \times 4 m$ indoor scene. An accompanying video is provided in order to illustrate the processing pipeline (https://youtu.be/IYnJSNV7QkI).

2

Efficient generation of 3D surfel maps using RGB-D sensors

Wilkowski A., Kornuta T., Stefańczyk M., Kasprzak W.

International Journal of Applied Mathematics and Computer Science

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2016

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Vol. 26, no. 1

99--122

EN

The article focuses on the problem of building dense 3D occupancy maps using commercial RGB-D sensors and the SLAM approach. In particular, it addresses the problem of 3D map representations, which must be able both to store millions of points and to offer efficient update mechanisms. The proposed solution consists of two such key elements, visual odometry and surfel-based mapping, but it contains substantial improvements: storing the surfel maps in octree form and utilizing a frustum culling-based method to accelerate the map update step. The performed experiments verify the usefulness and efficiency of the developed system.

3

Akwizycja obrazów RGB-D: metody

Stefańczyk M., Kornuta T.

Pomiary Automatyka Robotyka

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2014

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R. 18, nr 1

82--90

PL

Dwuczęściowy artykuł poświęcono czujnikom umożliwiającym akwizycję chmur punktów oraz map głębi. W poniższej, pierwszej części uwagę skupiono na trzech głównych metodach pomiarowych: stereowizji, świetle strukturalnym oraz pomiarze czasu lotu wiązki jako tych, które są najpowszechniej stosowane w robotyce. Poza zasadą działania każdej z metod przeanalizowano także ich właściwości, złożoność obliczeniową oraz potencjalne zastosowania.

EN

The two-part article is devoted to sensors enabling the acquisition of depth information from the environment. The following, first part concentrates on three main methods of depth measurement: stereovision, structured light and time of flight (ToF). Along with the principle of operation of each of the method we also deliberate on their properties, analyse the complexity of required computations and present potential applications.

4

Akwizycja obrazów RGB-D: czujniki

Kornuta T., Stefańczyk M.

Pomiary Automatyka Robotyka

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2014

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R. 18, nr 2

92--99

PL

Dwuczęściowy artykuł poświęcono czujnikom umożliwiającym akwizycję obrazów RGB-D. W pierwszej części uwagę skupiono na metodach akwizycji, w kolejnej części dokonano przeglądu czujników, zarówno dostępnych obecnie, jak i tych, które dopiero w najbliższym czasie pojawią się na rynku.

EN

The paper constitutes the second part of the article devoted to RGB-D sensors. In the first part the attention was focused on the methods of acquisition, whereas in the following, second part we present an overview of currently available commercial sensors.