TY - GEN
T1 - Monocular, real-time surface reconstruction using dynamic level of detail
AU - Zienkiewicz, Jacek
AU - Tsiotsios, Akis
AU - Davison, Andrew
AU - Leutenegger, Stefan
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/12/15
Y1 - 2016/12/15
N2 - We present a scalable, real-time capable method for robust surface reconstruction that explicitly handles multiple scales. As a monocular camera browses a scene, our algorithm processes images as they arrive and incrementally builds a detailed surface model.While most of the existing reconstruction approaches rely on volumetric or point-cloud representations of the environment, we perform depth-map and colour fusion directly into a multi-resolution triangular mesh that can be adaptively tessellated using the concept of Dynamic Level of Detail. Our method relies on least-squares optimisation, which enables a probabilistically sound and principled formulation of the fusion algorithm.We demonstrate that our method is capable of obtaining high quality, close-up reconstruction, as well as capturing overall scene geometry, while being memory and computationally efficient.
AB - We present a scalable, real-time capable method for robust surface reconstruction that explicitly handles multiple scales. As a monocular camera browses a scene, our algorithm processes images as they arrive and incrementally builds a detailed surface model.While most of the existing reconstruction approaches rely on volumetric or point-cloud representations of the environment, we perform depth-map and colour fusion directly into a multi-resolution triangular mesh that can be adaptively tessellated using the concept of Dynamic Level of Detail. Our method relies on least-squares optimisation, which enables a probabilistically sound and principled formulation of the fusion algorithm.We demonstrate that our method is capable of obtaining high quality, close-up reconstruction, as well as capturing overall scene geometry, while being memory and computationally efficient.
UR - http://www.scopus.com/inward/record.url?scp=85011277715&partnerID=8YFLogxK
U2 - 10.1109/3DV.2016.82
DO - 10.1109/3DV.2016.82
M3 - Conference contribution
AN - SCOPUS:85011277715
T3 - Proceedings - 2016 4th International Conference on 3D Vision, 3DV 2016
SP - 37
EP - 46
BT - Proceedings - 2016 4th International Conference on 3D Vision, 3DV 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th International Conference on 3D Vision, 3DV 2016
Y2 - 25 October 2016 through 28 October 2016
ER -