Efficient online surface correction for real-time large-scale 3D reconstruction

Maier R, Schaller R, Cremers D (2017)

Publication Type: Conference contribution

Publication year: 2017

Publisher: BMVA Press

Conference Proceedings Title: British Machine Vision Conference 2017, BMVC 2017

Event location: London, GBR

ISBN: 190172560X

DOI: 10.5244/c.31.158

Abstract

State-of-the-art methods for large-scale 3D reconstruction from RGB-D sensors usually reduce drift in camera tracking by globally optimizing the estimated camera poses in real-time without simultaneously updating the reconstructed surface on pose changes. We propose an efficient on-the-fly surface correction method for globally consistent dense 3D reconstruction of large-scale scenes. Our approach uses a dense Visual RGB-D SLAM system that estimates the camera motion in real-time on a CPU and refines it in a global pose graph optimization. Consecutive RGB-D frames are locally fused into keyframes, which are incorporated into a sparse voxel hashed Signed Distance Field (SDF) on the GPU. On pose graph updates, the SDF volume is corrected on-the-fly using a novel keyframe re-integration strategy with reduced GPU-host streaming. We demonstrate in an extensive quantitative evaluation that our method is up to 93% more runtime efficient compared to the state-of-the-art and requires significantly less memory, with only negligible loss of surface quality. Overall, our system requires only a single GPU and allows for real-time surface correction of large environments.

Involved external institutions

Technische Universität München (TUM) DE Germany (DE)

How to cite

APA:

Maier, R., Schaller, R., & Cremers, D. (2017). Efficient online surface correction for real-time large-scale 3D reconstruction. In British Machine Vision Conference 2017, BMVC 2017. London, GBR: BMVA Press.

MLA:

Maier, Robert, Raphael Schaller, and Daniel Cremers. "Efficient online surface correction for real-time large-scale 3D reconstruction." Proceedings of the 28th British Machine Vision Conference, BMVC 2017, London, GBR BMVA Press, 2017.

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