A Control System for Autonomous Vehicles - Three-Dimensional Geometric Models from Pictures

Abstract

This master's thesis describes an experimental process of recreating geometric models from images. This process is thoroughly described using functionality already present in the geometric modelling tool GeoMod and functionality added in this master's thesis. Some functionality is not yet implemented, but this is described with suggestions on implementation for further students. The framework described allows students to experiment with different algorithms that automatically recreates geometric models from images.

The implementation of dynamic linking of views and tools have been finished, and examples are shown. Libraries containing implementations of the BinPic-algorithm, OpenCV and OpenGL have been developed. The BinPic-algorithm creates binary geometric models of images that can be shown in the current view. OpenCV is an image-processing library that can be used to create better binary images than the ones created automatically using Qt-functions. OpenGL allows for the visualization of geometric models. This is similar to the camera-view already implemented in GeoMod, but it provides features like z-buffering, adding light sources, adding different colors inside and outside models and adding images as texture to geometric models. These libraries are used in the development of the framework for recreating models from images.