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BundleFusion: Real-Time Globally Consistent 3D Reconstruction Using On-the-Fly Surface Reintegration by Angela Dai; Matthias Nießner; Michael Zollhöfer; Shahram Izadi; Christian Theobalt is a Computer Science article available to read on EtoBox.

What is BundleFusion: Real-Time Globally Consistent 3D Reconstruction Using On-the-Fly Surface Reintegration about?

Real-time, high-quality, 3D scanning of large-scale scenes is key to mixed reality and robotic applications. However, scalability brings challenges of drift in pose estimation, introducing significant errors in the accumulated model. Approaches often require hours of offline processing to globally correct model errors. Recent online methods demonstrate compelling results but suffer from (1) needing minutes to perform online correction, preventing true real-time use; (2) brittle frame-to-frame (or frame-to-model) pose estimation, resulting in many tracking failures; or (3) supporting only unstructured point-based representations, which limit scan quality and applicability. We systematically address these issues with a novel, real-time, end-to-end reconstruction framework. At its core is a robust pose estimation strategy, optimizing per frame for a global set of camera poses by considering the complete history of RGB-D input with an efficient hierarchical approach. We remove the heavy reliance on temporal tracking and continually localize to the globally optimized frames instead. We contribute a parallelizable optimization framework, which employs correspondences based on sparse feat

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Author

Angela Dai; Matthias Nießner; Michael Zollhöfer; Shahram Izadi; Christian Theobalt

Publisher

ACM

Published

2017

Language

EN

Field

Computer Science (Physical Sciences)