3D reconstruction of cuboid-shaped objects from labeled images

In this thesis, my goal is to determine a rectangular 3D cuboid that outlines the boundaries of a cuboid-shaped object shown in an image. The position of the corners of each cuboid are manually labeled, or annotated, in a 2D color image. Given the color image, the labels, and a 2D depth image of the same scene, an algorithm extrapolates a cuboid's 3D position, orientation, and size characteristics by minimizing two quantities: the deviation of each estimated corner's projected position from its annotated position in 2D space and the distance from each estimated surface to the observed points associated with that surface in 3D space. I found that this approach successfully estimated the 3D boundaries of a cuboid object for 72.6% of the cuboids in a data set of 1,089 manually-labeled cuboids in images taken from the SUN3D database.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2013

Author dc:creator

• Lee, Erika, M. Eng. Massachusetts Institute of Technology

Advisor dc:contributor.advisor

• Antonio Torralba.

• Electrical Engineering and Computer Science.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/85440

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/85440