Robust 3D Surface Reconstruction in Real-Time with Localization Sensor

Wei LI  Yi WU  Chunlin SHEN  Huajun GONG  

IEICE TRANSACTIONS on Information and Systems   Vol.E101-D   No.8   pp.2168-2172
Publication Date: 2018/08/01
Publicized: 2018/05/14
Online ISSN: 1745-1361
DOI: 10.1587/transinf.2018EDL8056
Type of Manuscript: LETTER
Category: Image Recognition, Computer Vision
dense tracking and mapping,  surface reconstruction,  sensor fusion,  RGB-D SLAM,  

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We present a system to improve the robustness of real-time 3D surface reconstruction by utilizing non-inertial localization sensor. Benefiting from such sensor, our easy-to-build system can effectively avoid tracking drift and lost comparing with conventional dense tracking and mapping systems. To best fusing the sensor, we first adopt a hand-eye calibration and performance analysis for our setup and then propose a novel optimization framework based on adaptive criterion function to improve the robustness as well as accuracy. We apply our system to several challenging reconstruction tasks, which show significant improvement in scanning robustness and reconstruction quality.