Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions
Författare
Summary, in English
The ability to quickly acquire 3D models is an essential capability needed in many disciplines including robotics, computer vision, geodesy, and architecture. In this paper we present a novel method for real-time camera tracking and 3D
reconstruction of static indoor environments using an RGB-D sensor. We show that by representing the geometry with a signed distance function (SDF), the camera pose can be efficiently estimated by directly minimizing the error of the depth images on the SDF. As the SDF contains the distances to the surface for
each voxel, the pose optimization can be carried out extremely fast. By iteratively estimating the camera poses and integrating the RGB-D data in the voxel grid, a detailed reconstruction of an indoor environment can be achieved. We present reconstructions of several rooms using a hand-held sensor and from onboard an autonomous quadrocopter. Our extensive evaluation on publicly
available benchmark data shows that our approach is more accurate and robust than the iterated closest point algorithm (ICP) used by KinectFusion, and yields often a comparable accuracy at much higher speed to feature-based bundle adjustment methods such as RGB-D SLAM for up to medium-sized scenes.
reconstruction of static indoor environments using an RGB-D sensor. We show that by representing the geometry with a signed distance function (SDF), the camera pose can be efficiently estimated by directly minimizing the error of the depth images on the SDF. As the SDF contains the distances to the surface for
each voxel, the pose optimization can be carried out extremely fast. By iteratively estimating the camera poses and integrating the RGB-D data in the voxel grid, a detailed reconstruction of an indoor environment can be achieved. We present reconstructions of several rooms using a hand-held sensor and from onboard an autonomous quadrocopter. Our extensive evaluation on publicly
available benchmark data shows that our approach is more accurate and robust than the iterated closest point algorithm (ICP) used by KinectFusion, and yields often a comparable accuracy at much higher speed to feature-based bundle adjustment methods such as RGB-D SLAM for up to medium-sized scenes.
Avdelning/ar
Publiceringsår
2013
Språk
Engelska
Publikation/Tidskrift/Serie
Robotics: Science and Systems (RSS), Online Proceedings
Volym
9
Fulltext
Länkar
Dokumenttyp
Konferensbidrag
Förlag
Robotics: Science and Systems
Ämne
- Mathematics
Conference name
Robotics: Science and Systems (RSS) Conference 2013
Conference date
2013-06-24 - 2013-06-28
Conference place
Berlin, Germany
Status
Published
ISBN/ISSN/Övrigt
- ISSN: 2330-765X
- ISBN: 978-981-07-3937-9