De-noising, stabilizing and completing 3D reconstructions on-the-go using plane priors
Dzitsiuk M, Sturm J, Maier R, Ma L, Cremers D (2017)
Publication Type: Conference contribution
Publication year: 2017
Journal
Publisher: Institute of Electrical and Electronics Engineers Inc.
Pages Range: 3976-3983
Conference Proceedings Title: Proceedings - IEEE International Conference on Robotics and Automation
Event location: Singapore, SGP
ISBN: 9781509046331
DOI: 10.1109/ICRA.2017.7989457
Abstract
Creating 3D maps on robots and other mobile devices has become a reality in recent years. Online 3D reconstruction enables many exciting applications in robotics and AR/VR gaming. However, the reconstructions are noisy and generally incomplete. Moreover, during online reconstruction, the surface changes with every newly integrated depth image which poses a significant challenge for physics engines and path planning algorithms. This paper presents a novel, fast and robust method for obtaining and using information about planar surfaces, such as walls, floors, and ceilings as a stage in 3D reconstruction based on Signed Distance Fields (SDFs). Our algorithm recovers clean and accurate surfaces, reduces the movement of individual mesh vertices caused by noise during online reconstruction and fills in the occluded and unobserved regions. We implemented and evaluated two different strategies to generate plane candidates and two strategies for merging them. Our implementation is optimized to run in real-time on mobile devices such as the Tango tablet. In an extensive set of experiments, we validated that our approach works well in a large number of natural environments despite the presence of significant amount of occlusion, clutter and noise, which occur frequently. We further show that plane fitting enables in many cases a meaningful semantic segmentation of real-world scenes.
Involved external institutions
Germany (DE)How to cite
APA:
Dzitsiuk, M., Sturm, J., Maier, R., Ma, L., & Cremers, D. (2017). De-noising, stabilizing and completing 3D reconstructions on-the-go using plane priors. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3976-3983). Singapore, SGP: Institute of Electrical and Electronics Engineers Inc..
MLA:
Dzitsiuk, Maksym, et al. "De-noising, stabilizing and completing 3D reconstructions on-the-go using plane priors." Proceedings of the 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, SGP Institute of Electrical and Electronics Engineers Inc., 2017. 3976-3983.
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