Record link: 
http://hdl.handle.net/20.500.12708/78073
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Title: 
Photogrammabot: An Autonomous ROS-Based Mobile Photography Robot for Precise 3D Reconstruction and Mapping of Large Indoor Spaces for Mixed Reality
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Citation: 
Mortezapoor, S., Schönauer, C., Rüggeberg, J., & Kaufmann, H. (2022). Photogrammabot: An Autonomous ROS-Based Mobile Photography Robot for Precise 3D Reconstruction and Mapping of Large Indoor Spaces for Mixed Reality. In Proceedings of 2022 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW) (pp. 101–107). IEEE. https://doi.org/10.1109/VRW55335.2022.00033
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Publisher DOI: 
10.1109/VRW55335.2022.00033
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Publication Type: 
Inproceedings - Full-Paper Contribution
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Language: 
English
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Authors: 
Mortezapoor, Soroosh 
Schönauer, Christian 
Rüggeberg, Julien 
Kaufmann, Hannes 
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Organisational Unit: 
E193-02 - Forschungsbereich Computer Graphics 
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Published in: 
Proceedings of 2022 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW) 
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ISBN: 
978-1-6654-8403-9
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Date (published): 
20-Apr-2022
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Event name: 
2022 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW) 
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Event date: 
12-Mar-2022 - 16-Mar-2022
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Event place: 
Christchurch, New Zealand
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Number of Pages: 
7
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Publisher: 
IEEE, Christchurch, New Zealand
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Peer reviewed: 
Yes
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Keywords: 
3D reconstruction; Artificial intelligence; automation; autonomous mobile robot; Computer systems organization; Computer vision; Computing methodologies; Embedded and cyberphysical systems; fiducial marker tracking; Human computer interaction (HCI); Human computer interaction (HCI); Human-centered computing; Human-centered computing; Interaction paradigms; mixed-reality; Mixed/augmented reality; Photogrammetry; Reconstruction; Robotic autonomy; Robotics; ROS; Virtual reality
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Abstract: 
Precise 3D reconstruction of environments and real objects for Mixed-Reality applications can be burdensome. Photogrammetry can help to create accurate representations of actual objects in the virtual world using a high number of photos of a subject or an environment. Photogrammabot is an affordable mobile robot that facilitates photogrammetry and 3D reconstruction by autonomously and systematically capturing images. It explores an unknown indoor environment and uses map-based localization and navigation to maintain camera direction at different shooting points. Photogrammabot employs a Raspberry Pi 4B and Robot Operating System (ROS) to control the exploration and capturing processes. The photos are taken using a point-and-shoot camera mounted on a 2-DOF micro turret to enable photography from different angles and compensate for possible robot orientation errors to ensure parallel photos. Photogrammabot has been designed as a general solution to facilitate precise 3D reconstruction of unknown environments. In addition we developed tools to integrate it with and extend the Immersive Deck™ MR system [23], where it aids the setup of the system in new locations.
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Project title: 
Advanced Computational Design: F77 (Fonds zur Förderung der wissenschaftlichen Forschung (FWF)) 
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Project (external): 
European Union’s Horizon 2020 research and innovation programme within the BRIDGES project
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Project ID: 
952043
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Link (external): 
https://youtu.be/eWb9CMNKo1M
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Research Areas: 
Visual Computing and Human-Centered Technology: 20%
Modeling and Simulation: 40%
Automation and Robotics: 40%
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Science Branch: 
1020 - Informatik: 80%
2020 - Elektrotechnik, Elektronik, Informationstechnik: 20%
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