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SurfelMeshing: Onli...
SurfelMeshing: Online Surfel-Based Mesh Reconstruction
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- Schops, Thomas (författare)
- Eidgenössische Technische Hochschule Zürich (ETH),Swiss Federal Institute of Technology in Zürich (ETH)
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- Sattler, Torsten, 1983 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Pollefeys, Marc (författare)
- Eidgenössische Technische Hochschule Zürich (ETH),Swiss Federal Institute of Technology in Zürich (ETH)
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(creator_code:org_t)
- 2020
- 2020
- Engelska.
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Ingår i: IEEE Transactions on Pattern Analysis and Machine Intelligence. - 1939-3539 .- 0162-8828. ; 42:10, s. 2494-2507
- Relaterad länk:
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https://research.cha...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- We address the problem of mesh reconstruction from live RGB-D video, assuming a calibrated camera and poses provided externally (e.g., by a SLAM system). In contrast to most existing approaches, we do not fuse depth measurements in a volume but in a dense surfel cloud. We asynchronously (re)triangulate the smoothed surfels to reconstruct a surface mesh. This novel approach enables to maintain a dense surface representation of the scene during SLAM which can quickly adapt to loop closures. This is possible by deforming the surfel cloud and asynchronously remeshing the surface where necessary. The surfel-based representation also naturally supports strongly varying scan resolution. In particular, it reconstructs colors at the input camera's resolution. Moreover, in contrast to many volumetric approaches, ours can reconstruct thin objects since objects do not need to enclose a volume. We demonstrate our approach in a number of experiments, showing that it produces reconstructions that are competitive with the state-of-the-art, and we discuss its advantages and limitations. The algorithm (excluding loop closure functionality) is available as open source at https://github.com/puzzlepaint/surfelmeshing.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Annan teknik -- Mediateknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Other Engineering and Technologies -- Media Engineering (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
Nyckelord
- Applications of RGB-D Vision
- Surfels
- RGB-D SLAM
- Depth Fusion
- Real-Time Dense Mapping
- 3D Modeling and Scene Reconstruction
- Loop Closure
Publikations- och innehållstyp
- art (ämneskategori)
- ref (ämneskategori)
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