Knowledge Commons of Institute of Automation,CAS
Robust and Efficient CPU-based RGB-D Scene Reconstruction | |
Li,Jianwei1,2; Gao,Wei1,2; Li,Heping1,2; Tang,Fulin1,2; Wu,Yihong1,2 | |
发表期刊 | Sensors |
2018 | |
卷号 | 18期号:11页码:3652-3667 |
摘要 | 3D scene reconstruction is an important topic in computer vision. A complete scene is reconstructed from views acquired along camera trajectory, each view containing a small part of the scene. Tracking in textureless scenes is well known to be a Gordian knot of camera tracking, and how to obtain accurate 3D models quickly is a major challenge for existing systems. For the application of robotics, we propose a robust CPU-based approach to efficiently reconstruct indoor scene with a consumer RGB-D camera. The proposed approach bridges feature-based camera tracking and volumetric-based data integration together, and has a good reconstruction performance in terms of both robustness and efficiency. The key points in our approach include: 1) a robust and fast camera tracking method combining points and edges, which improves tracking stability in textureless scenes; 2) an efficient data fusion strategy to select camera views and integrate RGB-D images on multiple scales, which enhances the efficiency of volumetric integration; 3) a novel RGB-D scene reconstruction system, which can be quickly implemented on a standard CPU. Experimental results demonstrate that our approach reconstructs scenes with higher robustness and efficiency compared to state-of-the-art reconstruction systems. |
关键词 | 3d Reconstruction Camera Tracking Volumetric Integration Simultaneous Localization And Mapping (Slam)} |
收录类别 | SCIE |
语种 | 英语 |
WOS记录号 | WOS:000451598900062 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/23360 |
专题 | 多模态人工智能系统全国重点实验室_机器人视觉 |
通讯作者 | Gao,Wei |
作者单位 | 1.中科院自动化研究所 2.中国科学院大学 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Li,Jianwei,Gao,Wei,Li,Heping,et al. Robust and Efficient CPU-based RGB-D Scene Reconstruction[J]. Sensors,2018,18(11):3652-3667. |
APA | Li,Jianwei,Gao,Wei,Li,Heping,Tang,Fulin,&Wu,Yihong.(2018).Robust and Efficient CPU-based RGB-D Scene Reconstruction.Sensors,18(11),3652-3667. |
MLA | Li,Jianwei,et al."Robust and Efficient CPU-based RGB-D Scene Reconstruction".Sensors 18.11(2018):3652-3667. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
sensors-18-03652-v2.(4363KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 |
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