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Comprehensive Use of Curvature for Robust and Accurate Online Surface Reconstruction

Lefloch, D; Kluge, M; Sarbolandi, H; Weyrich, T; Kolb, A; (2017) Comprehensive Use of Curvature for Robust and Accurate Online Surface Reconstruction. IEEE Transactions on Pattern Analysis and Machine Intelligence , 39 (12) pp. 2349-2365. 10.1109/TPAMI.2017.2648803. Green open access

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Abstract

Interactive real-time scene acquisition from hand-held depth cameras has recently developed much momentum, enabling applications in ad-hoc object acquisition, augmented reality and other fields. A key challenge to online reconstruction remains error accumulation in the reconstructed camera trajectory, due to drift-inducing instabilities in the range scan alignments of the underlying iterative-closest-point (ICP) algorithm. Various strategies have been proposed to mitigate that drift, including SIFT-based pre-alignment, color-based weighting of ICP pairs, stronger weighting of edge features, and so on. In our work, we focus on surface curvature as a feature that is detectable on range scans alone and hence does not depend on accurate multi-sensor alignment. In contrast to previous work that took curvature into consideration, however, we treat curvature as an independent quantity that we consistently incorporate into every stage of the real-time reconstruction pipeline, including densely curvature-weighted ICP, range image fusion, local surface reconstruction, and rendering. Using multiple benchmark sequences, and in direct comparison to other state-of-the-art online acquisition systems, we show that our approach significantly reduces drift, both when analyzing individual pipeline stages in isolation, as well as seen across the online reconstruction pipeline as a whole.

Type: Article
Title: Comprehensive Use of Curvature for Robust and Accurate Online Surface Reconstruction
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/TPAMI.2017.2648803
Publisher version: http://doi.org/10.1109/TPAMI.2017.2648803
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: 3D Reconstruction, Curvature, Depth Fusion, Camera Tracking, Differential Geometry.
UCL classification: UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
URI: https://discovery.ucl.ac.uk/id/eprint/10044911
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