University of Oulu

Mustaniemi, J., Kannala, J., Rahtu, E., Liu, L., Heikkilä, J. (2023). BS3D: Building-Scale 3D Reconstruction from RGB-D Images. In: Gade, R., Felsberg, M., Kämäräinen, JK. (eds) Image Analysis. SCIA 2023. Lecture Notes in Computer Science, vol 13886. Springer, Cham.

BS3D : building-scale 3D reconstruction from RGB-D images

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Author: Mustaniemi, Janne1; Kannala, Juho2; Rahtu, Esa3;
Organizations: 1Center for Machine Vision and Signal Analysis, University of Oulu, Oulu, Finland
2Department of Computer Science, Aalto University, Espoo, Finland
3Tampere University, Tampere, Finland
Format: article
Version: accepted version
Access: embargoed
Persistent link:
Language: English
Published: Springer Nature, 2023
Publish Date: 2025-04-27


Various datasets have been proposed for simultaneous localization and mapping (SLAM) and related problems. Existing datasets often include small environments, have incomplete ground truth, or lack important sensor data, such as depth and infrared images. We propose an easy-to-use framework for acquiring building-scale 3D reconstruction using a consumer depth camera. Unlike complex and expensive acquisition setups, our system enables crowd-sourcing, which can greatly benefit data-hungry algorithms. Compared to similar systems, we utilize raw depth maps for odometry computation and loop closure refinement which results in better reconstructions. We acquire a building-scale 3D dataset (BS3D) and demonstrate its value by training an improved monocular depth estimation model. As a unique experiment, we benchmark visual-inertial odometry methods using both color and active infrared images.

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Series: Lecture notes in computer science
ISSN: 0302-9743
ISSN-E: 1611-3349
ISSN-L: 0302-9743
ISBN: 978-3-031-31438-4
ISBN Print: 978-3-031-31437-7
Issue: 13886
Pages: 551 - 565
DOI: 10.1007/978-3-031-31438-4_36
Host publication: Image Analysis : 22nd Scandinavian Conference, SCIA 2023, Sirkka, Finland, April 18–21, 2023, Proceedings, Part II
Host publication editor: Gade, Rikke
Felsberg, Michael
Kärkkäinen, Joni-Kristian
Conference: SCIA: Scandinavian Conference on Image Analysis
Type of Publication: A4 Article in conference proceedings
Field of Science: 213 Electronic, automation and communications engineering, electronics
Copyright information: © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.