Author: Toni Rosinol
Year: 2018
- Classical Harris detector, KLT tracker, RANSAC, Keyframe selector
- 3D mesh generator : 2D Mesh to 3D mesh with filtering faces that do not represent an actual surface
- Regularities detector: landmark to plane data association
- 2D triangulation prevent from doing a 3D tetrahedralisation that is computationnally expensive
- 3 pb :
- noisy positions of lmks
- irregular density of the point cloud
- point cloud is morphing, points are removed and added at each iteration
- Only keypoints that have a stereo corespondence and a 3D landmark are kept for mesh
- 3D Mesh update:
- at each frame a 2D Mesh is created from scratch
- check for every duplicate triangle wrt the last 2D and delete them from the current mesh
- convert into 3D mesh and append it to the current 3D mesh
- remove any rows with marginalized landmarks
- Mesh filtering:
- pb of triangles from walls to ground and outliers
- remove silver triangles (triangles with two very accute angles)
- remove triangles with a large ratio between largest and smallest side
- remove triangles with an edge larger than a thresh (?)
- Uses the mesh normals and elevation histogram to extract horizontal planes (table and ground)