Globally Consistent Dense Real-Time 3D Reconstruction from RGBD Data

Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem KonferenzbandForschungBegutachtung

Abstract

In this work, we present a dense 3D reconstruction
framework for RGBD data that can handle loop closure and
pose updates online. Handling updates online is essential to get
a globally consistent 3D reconstruction in real-time. We also
introduce fused depth maps for each keyframe that contain
the fused depths of all associated frames to greatly increase
the speed for model updates. Furthermore, we show how we
can use integration and de-integration in a volumetric fusion
system to adjust our model to online updated camera poses.
We build our system on top of the InfiniTAM framework to
generate a model from the semi-dense, keyframe based ORB
SLAM2. We extensively evaluate our system on real world and
synthetic generated RGBD data regarding tracking accuracy
and surface reconstruction.
Originalspracheenglisch
TitelProceedings of the OAGM Workshop 2018
UntertitelMedical Image Analysis
Redakteure/-innenMartin Welk, Martin Urschler, Peter M. Roth
ErscheinungsortGraz
Herausgeber (Verlag)Verlag der Technischen Universität Graz
Seiten121-127
Seitenumfang7
ISBN (elektronisch)978-3-85125-603-1
DOIs
PublikationsstatusVeröffentlicht - 2018
VeranstaltungOAGM Workshop 2018: Medical Image Analysis - Hall/Tyrol, Österreich
Dauer: 15 Mai 201816 Mai 2018

Workshop

WorkshopOAGM Workshop 2018
LandÖsterreich
OrtHall/Tyrol
Zeitraum15/05/1816/05/18

Fingerprint

Surface reconstruction
Cameras

Schlagwörter

    Dies zitieren

    Weilharter, R. J., Schenk, F., & Fraundorfer, F. (2018). Globally Consistent Dense Real-Time 3D Reconstruction from RGBD Data. in M. Welk, M. Urschler, & P. M. Roth (Hrsg.), Proceedings of the OAGM Workshop 2018: Medical Image Analysis (S. 121-127). Graz: Verlag der Technischen Universität Graz. https://doi.org/10.3217/978-3-85125-603-1-25

    Globally Consistent Dense Real-Time 3D Reconstruction from RGBD Data. / Weilharter, Rafael Jakob; Schenk, Fabian; Fraundorfer, Friedrich.

    Proceedings of the OAGM Workshop 2018: Medical Image Analysis. Hrsg. / Martin Welk; Martin Urschler; Peter M. Roth. Graz : Verlag der Technischen Universität Graz, 2018. S. 121-127.

    Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem KonferenzbandForschungBegutachtung

    Weilharter, RJ, Schenk, F & Fraundorfer, F 2018, Globally Consistent Dense Real-Time 3D Reconstruction from RGBD Data. in M Welk, M Urschler & PM Roth (Hrsg.), Proceedings of the OAGM Workshop 2018: Medical Image Analysis. Verlag der Technischen Universität Graz, Graz, S. 121-127, Hall/Tyrol, Österreich, 15/05/18. https://doi.org/10.3217/978-3-85125-603-1-25
    Weilharter RJ, Schenk F, Fraundorfer F. Globally Consistent Dense Real-Time 3D Reconstruction from RGBD Data. in Welk M, Urschler M, Roth PM, Hrsg., Proceedings of the OAGM Workshop 2018: Medical Image Analysis. Graz: Verlag der Technischen Universität Graz. 2018. S. 121-127 https://doi.org/10.3217/978-3-85125-603-1-25
    Weilharter, Rafael Jakob ; Schenk, Fabian ; Fraundorfer, Friedrich. / Globally Consistent Dense Real-Time 3D Reconstruction from RGBD Data. Proceedings of the OAGM Workshop 2018: Medical Image Analysis. Hrsg. / Martin Welk ; Martin Urschler ; Peter M. Roth. Graz : Verlag der Technischen Universität Graz, 2018. S. 121-127
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