Article
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CuFusion: Accurate Real‐time Camera Tracking and Volumetric Scene Reconstruction with a Cuboid
Version 1
: Received: 6 August 2017 / Approved: 7 August 2017 / Online: 7 August 2017 (11:03:23 CEST)
A peer-reviewed article of this Preprint also exists.
Zhang, C.; Hu, Y. CuFusion: Accurate Real-Time Camera Tracking and Volumetric Scene Reconstruction with a Cuboid. Sensors 2017, 17, 2260, doi:10.3390/s17102260. Zhang, C.; Hu, Y. CuFusion: Accurate Real-Time Camera Tracking and Volumetric Scene Reconstruction with a Cuboid. Sensors 2017, 17, 2260, doi:10.3390/s17102260.
Abstract
Given a stream of depth images with a known cuboid reference object present in the scene, we propose a novel approach for accurate camera tracking and volumetric surface reconstruction in real-time. Our contribution in this paper is threefold: (a) utilizing a priori knowledge of the cuboid reference object, we keep drift-free camera tracking without explicit global optimization; (b) we improve the fineness of the volumetric surface representation by proposing a prediction-corrected data fusion strategy rather than simple moving average, which enables accurate reconstruction of high-frequency details such as sharp edges of objects and geometries of high curvature; (c) we introduce a benchmark dataset CU3D containing both synthetic and real-world scanning sequences with ground-truth camera trajectories and surface models for quantitative evaluation of 3D reconstruction algorithms. We test our algorithm on our dataset and demonstrate its accuracy compared with other state-of-the-art algorithms. We release both our dataset and code as opensource1 for other researchers to reproduce and verify our results.
Keywords
real‐time reconstruction; SLAM; kinect sensors; depth cameras; open source
Subject
Computer Science and Mathematics, Computer Science
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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Commenter: Bassam Arrfou
The commenter has declared there is no conflict of interests.
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Thank you so much for reminding us of such a carelessness!!!
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https://github.com/zhangxaochen/CuFusion