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3D Scanning of High Dynamic Scenes Using an RGB-D Sensor and an IMU on a Mobile Device | |
Liu, Yangdong1,2![]() ![]() ![]() | |
发表期刊 | IEEE Access
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2019-02 | |
期号 | 7页码:24057-24070 |
摘要 | With the development of RGB-D sensors and mobile devices, 3D scanning has witnessed great progress in recent years. KinectFusion opens up an era of RGB-D 3D reconstruction, which integrates captured depth images into a voxel-based representation.Anumber of improvements have been applied to the KinectFusion to reduce large footprint and make the 3D reconstruction on mobile devices possible. However, these methods are designed to handle static scenes. In this paper, we propose a method which can perform the 3D scanning of high dynamic scenes using an RGB-D sensor and an inertial measurement unit (IMU) on a mobile device. We rst introduce a novel method to segment the depth images into static and dynamic elements with the use of sparse optical owand the rotational part of the IMU. Then, we determine the camera pose with pixels labeled as static. At last depth, images are integrated into a voxel-based representation. The truncated signed distance function values of static voxels are updated while dynamic voxels are set to free-space. The experiments show that compared with some state-of-the-art systems, our method has better results when scanning high dynamic scenes and has comparable results when scanning low dynamic and static scenes. Besides, our method processes eight frames/s on an Apple iPad Air 2. |
关键词 | Dynamic Scenes Background Segmentation Rgb-d Mobile Device |
收录类别 | SCI |
WOS记录号 | WOS:000498540200001 |
七大方向——子方向分类 | 三维视觉 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/23668 |
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.National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences 2.School of Artificial Intelligence, University of Chinese Academy of Sciences, |
第一作者单位 | 模式识别国家重点实验室 |
通讯作者单位 | 模式识别国家重点实验室 |
推荐引用方式 GB/T 7714 | Liu, Yangdong,Gao, Wei,Hu, Zhanyi. 3D Scanning of High Dynamic Scenes Using an RGB-D Sensor and an IMU on a Mobile Device[J]. IEEE Access,2019(7):24057-24070. |
APA | Liu, Yangdong,Gao, Wei,&Hu, Zhanyi.(2019).3D Scanning of High Dynamic Scenes Using an RGB-D Sensor and an IMU on a Mobile Device.IEEE Access(7),24057-24070. |
MLA | Liu, Yangdong,et al."3D Scanning of High Dynamic Scenes Using an RGB-D Sensor and an IMU on a Mobile Device".IEEE Access .7(2019):24057-24070. |
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