Comp 770   Project (proposal slides)

Image-based Tree Branches Recovery

                                                                                                                        Yilin Wang


Tree is difficult to be reconstructed because of its complex geometry. To achieve a realistic model, branches and leaves of the tree must be processed separately, and branch reconstruction, which will give the skeleton of the tree, is a crucial step. However, how to recover occluded branches is still a difficult work. Most existing works use images for generating the 3D point cloud, and in this project we want to extract more useful information from images to refine the branch reconstruction.


To recover the tree branches from images, and to make the procedure as automatic as possible


1.     3D structure generation from source images. The position of points of branches and leaves will be computed based on structure from motion approach and refined manually.

2.     Reconstruction of trunk and visible branches.

3.     Recovery of occlude branches.

Prior works

Existing techniques for tree modeling can be classified as rule-based and image-based.

Rule-based techniques use a small set of generative rules or grammar to create branches and leaves, which is good at producing impressive-looking trees but difficult to design well. Prusinkiewicz et al. [4] developed a series of approaches based on the idea of generative L-system. Weber and Penn [9] used geometric rules to produce realistic looking trees, and there are also a number of techniques [5][1] that took into account various kinds of interactions between the tree and the environment.

Image-based approaches directly reconstruct the tree using image samples, which is easy to apply but has limited realism. Tan et al. developed a semi-automatic modeling system [8], in which obscured branches are predicted by the shape patterns of visible branches. Neubert [3] proposed a particle flow method to form twigs and branches. Additionally, Han [2] described a Bayesian approach to modeling tree-like objects from a single image using good priors, and Sakaguchi and Shlyakhter’s approaches[6][7] represent the rough shape of the tree by the visual hull of the tree from silhouettes.

Update 1 (March 15, 2009):  3D points cloud generation from source images

The source images, depth maps, and calibrated projection matrices used in this project are provided by Professor Jan-Michael Frahm and David Gallup. Based on these data, the first subtask is to extract the tree from source images. For the simplicity, source images are roughly cropped manually to remove most uninterested objects. One cropping example is shown in Figure 1.


Figure 1. Left image is the original source image, and right image is the corresponding cropped image

Figure 2 (left) shows the original depth map for the source image shown in Figure 1. We can see that this depth map is too coarse, and many details (especially the boundary of the tree) are incorrect. To obtain better depth estimation, source images are segmented into small regions, and all the pixels in one region will choose the most popular value in the region as their new depth, as shown in Figure 2 right. Here the mean shift approach [10]  is used for the segmentation, and the segmentation result is shown in Figure 3.

../../Programming/Workspace/ForMatlab/TreeReconstruction/depth00004000.jpg   ../../Programming/Workspace/ForMatlab/TreeReconstruction/depthMap00004000.jpg 

Figure 2. Left image is the original depth map, and right image is the rectified depth map

Figure 3. Mean Shift Segmentation

With the new depth map, the next step is to extract the tree from the cropped image. Depths are used to separate the object into foreground (the tree) and background (the man-made objects) by thresholding (Figure 4 left), and then colors are used to remove residual man-made objects by clustering method [11] (Figure 4 right).


Figure 4. Tree extraction first by depth (left image), and then by color (right image)

The final extracted images are used to compute the 3D position of the tree by back-projecting: Suppose m (x, y) is a 2D pixel on the image, M is its corresponding 3D point, K is the intrinsic matrix of the camera, P is the extrinsic matrix, and d(x, y) is the depth of m, then. The reconstructed 3D points cloud is shown in Figure 5.

Figure 5. 3D points cloud for the reconstruction



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[2] F. Han and S.-C. Zhu. Bayesian reconstruction of 3d shapes and scenes from a single image. In  LK ’03: Proceedings of the First IEEE International Workshop on Higher-Level Knowledge in 3D Modeling and Motion Analysis, page 12, Washington, DC, USA, 2003. IEEE Computer Society.

[3] B. Neubert, T. Franken, and O. Deussen. Approximate image-based tree-modeling using particle flows. ACM Trans. Graph., 26(3):88, 2007.2

[4] P. Prusinkiewicz, M. James, and R. Mˇech. Synthetic topiary. In SIGGRAPH ’94: Proceedings of the 21st annual conference on Computer graphics and interactive techniques, pages 351–358, New York, NY, USA, 1994. ACM.

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[9] J. Weber and J. Penn. Creation and rendering of realistic trees. In SIGGRAPH ’95: Proceedings of the 22nd annual conference on Computer graphics and interactive techniques, pages 119–128, New York, NY, USA, 1995. ACM.