03434nas|a2200445 a 4500 20260818085944.0 091112s2009 th uu|m rtt 0| a1eng d .b12070373 AIT RSPR no.CS-09-05 Bukhari, Faisal Delaunay triangulation based sparse 3D reconstruction of indoor scenes using a monocular camera Pathum Thani, Thailand : Asian Institute of Technology, 2009 40 p. : ill. Research studies project report ; no. CS-09-05 A research study submitted in partial fulfillment of the requirements for the degree of Master of Science in Computer Science, School of Engineering and Technology Research Studies Project Report (M.Eng.) - Asian Institute of Technology, 2009 The role of robots is increasing in our daily life. They can wash dishes, explore unknown terrain, perform security tasks, assist surgeons in patients' operations, perform surveillance and many more. Human beings gather information about the terrain using eyes and motion of the body. In other words, they see the world in 3D and accumulate information about the structure of the world. In order to approximate some of the capabilities of human beings in robots, we need the ability to create 3D models of the scene, so that robots can navigate smoothly. This technology could be utilized by armed forces, in order to understand the structure of a collapsed building to locate positions of terrorists, or by rescue robots, for example, to understand the structure of a building to locate survivors. In this research study, I make a 3D model of an indoor scene using structure from motion. My method is based on sparse points from a pair of images. My 3D model is based on 2D Delaunay triangulation. I choose this triangulation, because it gives maximum weight to the least angle of all the angles in a triangle. This triangulation usually avoid skinny triangles and is thus most suitable for mapping image texture to a 3D mesh. I render the 3D model using OpenGL. Vision, Monocular Robot vision Three-dimensional imaging Computer vision Dailey, Mathew N., Chairperson Afzulpurkar, Nitin V., Examination Committee Guha, Sumanta, Examination Committee Higher Education Commission (HEC), Pakistan, Scholarship donor Asian Institute of Technology. Research studies project report ; no. CS-09-05 Full-Text http://203.159.5.9/ait-thesis/detail.php?q=B01287 .b12070373 mnait u 240329 0 091112 m a u 0 mnait mnait mnarc 20 40 Barcode : 30050120615603 CREATED : 2009-12-11 RECORD # : i12623489 LPATRON : 1021596 LCHKIN : 2011-04-19 # RENEWALS : 0 # OVERDUE : 0 IUSE3 : 0 TOT CHKOUT : 1 TOT RENEW : 0 Barcode : 30050120615587 CREATED : 2009-12-11 RECORD # : i12623490 LPATRON : 0 LCHKIN : - # RENEWALS : 0 # OVERDUE : 0 IUSE3 : 0 TOT CHKOUT : 0 TOT RENEW : 0 Barcode : 30050120239461 CREATED : 2016-03-31 RECORD # : i12915567 LPATRON : 0 LCHKIN : - # RENEWALS : 0 # OVERDUE : 0 IUSE3 : 0 TOT CHKOUT : 0 TOT RENEW : 0 26352 26352 0 0 0 0 MAIN MAIN mnait 2026-08-18 50.00 0 AIT RSPR no.CS-09-05 30050120615603 2026-08-18 08:59:44 1 2026-08-18 20 0 0 0 0 MAIN MAIN mnait 2026-08-18 50.00 0 AIT RSPR no.CS-09-05 30050120615587 2026-08-18 08:59:44 2 2026-08-18 20 0 0 0 0 MAIN MAIN mnarc 2026-08-18 0 AIT RSPR no.CS-09-05 30050120239461 2026-08-18 08:59:44 1 2026-08-18 40