VECTOR：3D再構成誤差分析のブラックボックスを開く可視化ツール
Opening the Black Box of 3D Reconstruction Error Analysis with VECTOR
ステレオ再構成のバンドル調整における誤差要因を可視化するツールVECTORを開発し、火星探査車の地形再構成のデバッグと改善に活用した。
著者: Racquel Fygenson, Kazi Jawad, Isabel Li, Francois Ayoub, Robert G. Deen, Scott Davidoff, Dominik Moritz, Mauricio Hess-Flores
分類: cs.CV, cs.RO
原文アブストラクト
Reconstruction of 3D scenes from 2D images is a technical challenge that impacts domains from Earth and planetary sciences and space exploration to augmented and virtual reality. Typically, reconstruction algorithms first identify common features across images and then minimize reconstruction errors after estimating the shape of the terrain. This bundle adjustment (BA) step optimizes around a single, simplifying scalar value that obfuscates many possible causes of reconstruction errors (e.g., initial estimate of the position and orientation of the camera, lighting conditions, ease of feature detection in the terrain). Reconstruction errors can lead to inaccurate scientific inferences or endanger a spacecraft exploring a remote environment. To address this challenge, we present VECTOR, a visual analysis tool that improves error inspection for stereo reconstruction BA. VECTOR provides analysts with previously unavailable visibility into feature locations, camera pose, and computed 3D points. VECTOR was developed in partnership with the Perseverance Mars Rover and Ingenuity Mars Helicopter terrain reconstruction team at the NASA Jet Propulsion Laboratory. We report on how this tool was used to debug and improve terrain reconstruction for the Mars 2020 mission.
