Meeting Notes

December, 12, 2012

• Material properties will require to combine bilineal and quadratic projection modes of lightning
  • It should be done only if possible as a minor contribution

• Real Time Camera Tracking will be approximated using motion estimation

• The PhD is focused on monocular video but RGB-D cameras are not discarted yet

• Long loop scenes

  • Using tangent space from skew-symmetric matrices of Lie algebra
  • Open loops can be closed by interpolating using a bilineal transformation
• Mesh simplification during reconstruction
  • Reduces memory footprint
  • Boost future computations

Next steps

• Determine prototypes and software requirements
• Design pipeline architecture
• Establish criteria for a quantitative evaluation of the results using percentage of error or improvement from state of the art

February 7, 2013

• Tracking and Mapping will be two coupled components with a closed feedback between them
• Noise from measures must be taken into account in every step: minimize the reprojection error
• Consider VTK or some visualization library for point clouds
• Energy functional and evaluation / validation procedures require more explanation
• Consider Wallenstein distance: it looks for similarities between grouped data by mesuring orden $k$ moments
  • It includes the Hausdorff measure (2010)
• Consider background segmentation to reduce the noise in the scene
• In the evaluation, it is recommended to parametrize the total error wrt camera velocity and background distance

Next steps

• First implementation of a 3D reconstruction pipeline
  • Using FAST features
  • KLT tracking
  • Triangulation
• Describe the smart meshing procedures taken into consideration