Multi-camera 3D scene reconstruction from vanishing points

In this paper we present a multi-camera system, which serves as the primary vision apparatus for a ceiling based swinging service robotic platform. To facilitate a smooth and unimpeded movement of the swinging platform the knowledge of the working environment is essential. To this end we examine the 3D scene reconstruction by concurrent multiple views from the distinct cameras located at the upper corners of a room for volume calculation of objects in everyday indoor environments. The 3D scene reconstruction is used to determine the working volume where the swinging robot will be able to operate. At first, we detect lines across the views using the hough transformation while the computation of multiple vanishing points serves as the platform to distinguish regions across the multi camera system. We thereafter obtain correspondences across the multiple views of the test room and finally we determine the 3D volumes of objects across the scene. The preliminary experimental results show that the volume computation is very accurate and reasonably time consuming.