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Abstract
In this work, we present a dense 3D reconstruction
framework for RGBD data that can handle loop closure and
pose updates online. Handling updates online is essential to get
a globally consistent 3D reconstruction in real-time. We also
introduce fused depth maps for each keyframe that contain
the fused depths of all associated frames to greatly increase
the speed for model updates. Furthermore, we show how we
can use integration and de-integration in a volumetric fusion
system to adjust our model to online updated camera poses.
We build our system on top of the InfiniTAM framework to
generate a model from the semi-dense, keyframe based ORB
SLAM2. We extensively evaluate our system on real world and
synthetic generated RGBD data regarding tracking accuracy
and surface reconstruction.
framework for RGBD data that can handle loop closure and
pose updates online. Handling updates online is essential to get
a globally consistent 3D reconstruction in real-time. We also
introduce fused depth maps for each keyframe that contain
the fused depths of all associated frames to greatly increase
the speed for model updates. Furthermore, we show how we
can use integration and de-integration in a volumetric fusion
system to adjust our model to online updated camera poses.
We build our system on top of the InfiniTAM framework to
generate a model from the semi-dense, keyframe based ORB
SLAM2. We extensively evaluate our system on real world and
synthetic generated RGBD data regarding tracking accuracy
and surface reconstruction.
Original language | English |
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Title of host publication | Proceedings of the OAGM Workshop 2018 |
Subtitle of host publication | Medical Image Analysis |
Editors | Martin Welk, Martin Urschler, Peter M. Roth |
Place of Publication | Graz |
Publisher | Verlag der Technischen Universität Graz |
Pages | 121-127 |
Number of pages | 7 |
ISBN (Electronic) | 978-3-85125-603-1 |
DOIs | |
Publication status | Published - 2018 |
Event | 42nd Annual Workshop of the Austrian Association for Pattern Recognition: Medical Image Analysis: ÖAGM 2018 - Hall/Tirol, Austria Duration: 15 May 2018 → 16 May 2018 |
Workshop
Workshop | 42nd Annual Workshop of the Austrian Association for Pattern Recognition: Medical Image Analysis |
---|---|
Country/Territory | Austria |
City | Hall/Tirol |
Period | 15/05/18 → 16/05/18 |
Keywords
- 3D reconstruction
- RGBD
- volumetric fusion
- SLAM
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Dive into the research topics of 'Globally Consistent Dense Real-Time 3D Reconstruction from RGBD Data'. Together they form a unique fingerprint.Projects
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Prizes
-
OCG Best Paper Award
Weilharter, Rafael Jakob (Recipient), Schenk, Fabian (Recipient) & Fraundorfer, Friedrich (Recipient), 2018
Prize: Prizes / Medals / Awards