Exploit Depth Camera for 3D Spatial Relationship Interpretation
Channel: acmmmsys
Date: 2013-04-04

Presented at MMSYS 2013.

Interpretation of spatial relations between objects is essential to many applications such as robotics, video surveillance, spatial reasoning, and scene understanding. Current models for spatial logic are two-dimensional. With the advance in new sensing technology, inexpensive depth sensors become widely available and 3D scene reconstruction can be applied in various application scenarios. In this paper, we propose a 3D spatial logic and algorithms for interpretation of spatial relationships among objects in 3D space. More specifically, these techniques are developed for LVDBMS (Live Video DataBase Management System), a generic platform for live video computing. We extend the original directional relationships into 3D directional relationships, and introduce a simple yet effective way to build 3D object models based on depth sensors. A highly accurate and efficient algorithm is also proposed to compute the spatial relationships between two objects by sampling the entire space from the reference object. Experimental results based on a real indoor scene and an RGB-D dataset are given to demonstrate the effectiveness of our techniques.