1. Upenn/UNC Joint Reconstruction Effort

2. Overview b Reconstruction effort in the GRASP Lab at Upenn as part of the joint effort with UNC b The team at Upenn is composed of: Professors: Ruzena Bajcsy, Kostas Daniilidis, and Camillo J. Taylor;Professors: Ruzena Bajcsy, Kostas Daniilidis, and Camillo J. Taylor; Postdocs: Jane Mulligan;Postdocs: Jane Mulligan; Graduate Students: David Jelinek, Choon Meng Lee, Jeffrey Mendelsohn;Graduate Students: David Jelinek, Choon Meng Lee, Jeffrey Mendelsohn; Undergraduate Students: Hal Greenwald, David SchmidUndergraduate Students: Hal Greenwald, David Schmid

3. Goal b The goal of the project is to produce veritable, complete, three dimensional geometry of a large static (for now) environment. We use Professor Fred Brooks’s kitchen as the test because it has the CAD model available which will serve as the Ground Truth for our reconstruction.

4. Omniderictional Images b Images taken with an omnidirectional camera will be used to obtain a high level reconstruction of the scene

5. Digital Video imagery b Images acquired with a digital video camera will be used to texture map the model and add details

6. Stereo Imagery b Stereo image data was also acquired

7. Preliminary Reconstruction

8. Collaborators hard at work

9. Collaborators in action

10. Experimental Setup