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Robust and Efficient CPU-based RGB-D Scene Reconstruction
Li,Jianwei1,2; Gao,Wei1,2; Li,Heping1,2; Tang,Fulin1,2; Wu,Yihong1,2
Source PublicationSensors
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.
Keyword3d Reconstruction Camera Tracking Volumetric Integration Simultaneous Localization And Mapping (Slam)}
Indexed BySCIE
WOS IDWOS:000451598900062
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Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Corresponding AuthorGao,Wei
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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.
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