We are very excited to join forces with MLCommons and OctoML.ai! Contact Grigori Fursin for more details!

Efficient Online Surface Correction for Real-time Large-Scale 3D Reconstruction

lib:1efefc04d4069b29 (v1.0.0)

Authors: Robert Maier,Raphael Schaller,Daniel Cremers
ArXiv: 1709.03763
Document:  PDF  DOI 
Abstract URL: http://arxiv.org/abs/1709.03763v1


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.

Relevant initiatives  

Related knowledge about this paper Reproduced results (crowd-benchmarking and competitions) Artifact and reproducibility checklists Common formats for research projects and shared artifacts Reproducibility initiatives

Comments  

Please log in to add your comments!
If you notice any inapropriate content that should not be here, please report us as soon as possible and we will try to remove it within 48 hours!