Online CAD reconstruction with hand-held depth cameras (HandCAD-2)

• Applicant: Professor Dr. Dominik Henrich
• Subject Area: Automation, Mechatronics, Control Systems, Intelligent Technical Systems, Robotics ; Image and Language Processing, Computer Graphics and Visualisation, Human Computer Interaction, Ubiquitous and Wearable Computing
• Term: from 2015 to 2023
• Project identifier: Deutsche Forschungsgemeinschaft (DFG) - Project number 270133832

• Final Report Year: 2025

Final Report Abstract

Three-dimensional geometric computer models (CAD models) are used in many technical applications, such as in construction, manufacturing, simulation and in computer games. These models serve very different purposes but have in common that they represent an imitation of rigid bodies in the real world. A CAD model is created either manually in several complex steps of a designer, or in a creative process on the computer. Alternatively, an existing object or an existing environment is captured by sensors and then a geometric model is automatically generated from the measurements (CAD reconstruction). Today, low-cost depth cameras are available for CAD reconstruction. In addition to the geometric data thus collected, additional abstract information of the detected objects, such as their properties, symmetries or features are desirable. Furthermore, the CAD reconstruction should be quick and easy to perform even without expert knowledge. In this research project methods for the automatic generation of CAD models from sensor data from hand-held cameras depth are developed and investigated. Here, the online computable reconstruction of individual objects and of complete interior or exterior scenes in the form of abstract models is considered with different resolution levels. The reconstruction should be generated with low performance computing hardware, such that the results can be displayed already during the acquisition. Specific challenges are non-planar, structure-less or symmetric surfaces and dynamic objects, such as people moving through the scene. In the long run, it would be desirable to draw additional conclusions on the reconstructed objects, such as: Which object is it? Is the object fixed or movable? What are the possible movements of the object (e.g. a door)?

Publications

• Intuitive Erzeugung von 3D-Modellen mit handgehaltenen Sensoren. Mensch und Computer 2014 - Tagungsband, 85-94. OLDENBOURG WISSENSCHAFTSVERLAG.
  Sand, Maximilian & Henrich, Dominik
  
• Incremental reconstruction of planar B-Rep models from multiple point clouds. The Visual Computer, 32(6-8), 945-954.
  Sand, Maximilian & Henrich, Dominik
  
• “ENACT: An Efficient and Extensible Entity-Actor Framework for Modular Robotics Software Components”, 47th International Symposium on Robotics (ISR’16), Munich, June 21-22.
  Werner T., Orendt E., Gradmann M., Sand M., Spangenberg M. & Henrich D.
  
• Matching and pose estimation of noisy, partial and planar b-rep models. Proceedings of the Computer Graphics International Conference, 1-6. ACM.
  Sand, Maximilian & Henrich, Dominik
  
• “Sparse and Precise Reconstruction of Static Obstacles for Real-Time Path Planning in Human-Robot Workspaces”, 50th International Symposium on Robotics (ISR’18), München, Juni 19-22.
  Werner T., Sand M. & Henrich D.
  
• "Inkrementelle Rekonstruktion von planaren Volumenmodellen mit handgehaltenen Tiefenkameras", Dissertation der Universität Bayreuth, 2019, Gutachter: D. Henrich, M. Guthe, H. Hagen.
  Sand, M.
  
• User Guidance and Automatic Completion for Generating Planar B-Rep Models. Annals of Scientific Society for Assembly, Handling and Industrial Robotics, 33-43. Springer Berlin Heidelberg.
  Rohner, Dorian; Sand, Maximilian & Henrich, Dominik
  
• Incremental Online Reconstruction of Locally Quadric Surfaces. Proceedings of the 17th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 155-162. SCITEPRESS - Science and Technology Publications.
  Bloeß, Josua & Henrich, Dominik