Guided real-time scanning of indoor objects

Young Min Kim, Niloy J. Mitra, Qixing Huang, Leonidas Guibas

Research output: Contribution to journalArticlepeer-review

27 Scopus citations


Advances in 3D acquisition devices provide unprecedented opportunities for quickly scanning indoor environments. Such raw scans, however, are often noisy, incomplete, and significantly corrupted, making semantic scene understanding difficult, if not impossible. Unfortunately, in most existing workflows, scan quality is assessed after the scanning stage is completed, making it cumbersome to correct for significant missing data by additional scanning. In this work, we present a guided real-time scanning setup, wherein the incoming 3D data stream is continuously analyzed, and the data quality is automatically assessed. While the user is scanning an object, the proposed system discovers and highlights potential missing parts, thus guiding the operator (or an autonomous robot) as where to scan next. The proposed system assesses the quality and completeness of the 3D scan data by comparing to a large collection of commonly occurring indoor man-made objects using an efficient, robust, and effective scan descriptor. We have tested the system on a large number of simulated and real setups, and found the guided interface to be effective even in cluttered and complex indoor environments.

Original languageEnglish (US)
Pages (from-to)177-186
Number of pages10
JournalComputer Graphics Forum
Issue number7
StatePublished - Oct 2013

ASJC Scopus subject areas

  • Computer Graphics and Computer-Aided Design


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