000			03434nas|a2200445 a 4500
005			20260818085944.0
008			091112s2009 th uu|m rtt 0| a1eng d
035			_a.b12070373
099		9	_aAIT RSPR no.CS-09-05
100	1		_aBukhari, Faisal
245	1	0	_aDelaunay triangulation based sparse 3D reconstruction of indoor scenes using a monocular camera
260			_aPathum Thani, Thailand : _bAsian Institute of Technology, _c2009
300			_a40 p. : _bill.
490	1		_aResearch studies project report ; _vno. CS-09-05
500			_aA research study submitted in partial fulfillment of the requirements for the degree of Master of Science in Computer Science, School of Engineering and Technology
502			_aResearch Studies Project Report (M.Eng.) - Asian Institute of Technology, 2009
520			_aThe 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.
650		0	_aVision, Monocular
650		0	_aRobot vision
650		0	_aThree-dimensional imaging
650		0	_aComputer vision
700	1		_aDailey, Mathew N., _eChairperson
700	1		_aAfzulpurkar, Nitin V., _eExamination Committee
700	1		_aGuha, Sumanta, _eExamination Committee
710	2		_aHigher Education Commission (HEC), Pakistan, _eScholarship donor
810	2		_aAsian Institute of Technology. _tResearch studies project report ; _vno. CS-09-05
856			_3Full-Text _uhttp://203.159.5.9/ait-thesis/detail.php?q=B01287
907			_a.b12070373 _bmnait _cu
902			_a240329
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