Efficient Online Surface Correction for Real-time Large-Scale 3D Reconstruction

Robert Maier, Raphael Schaller and Daniel Cremers

Abstract

State-of-the-art methods for large-scale 3D reconstruction from RGB-D sensors usually reduce drift in camera tracking by globally optimizing the estimated camera poses in real-time without simultaneously updating the reconstructed surface on pose changes. We propose an efficient on-the-fly surface correction method for globally consistent dense 3D reconstruction of large-scale scenes. Our approach uses a dense Visual RGB-D SLAM system that estimates the camera motion in real-time on a CPU and refines it in a global pose graph optimization. Consecutive RGB-D frames are locally fused into keyframes, which are incorporated into a sparse voxel hashed Signed Distance Field (SDF) on the GPU. On pose graph updates, the SDF volume is corrected on-the-fly using a novel keyframe re-integration strategy with reduced GPU-host streaming. We demonstrate in an extensive quantitative evaluation that our method is up to 93% more runtime efficient compared to the state-of-the-art and requires significantly less memory, with only negligible loss of surface quality.

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DOI

10.5244/C.31.158
https://dx.doi.org/10.5244/C.31.158

Citation

Bibtex

            @inproceedings{BMVC2017_158,
                title={Efficient Online Surface Correction for Real-time Large-Scale 3D Reconstruction},
                author={Robert Maier, Raphael Schaller and Daniel Cremers},
                year={2017},
                month={September},
                pages={158.1-158.12},
                articleno={158},
                numpages={12},
                booktitle={Proceedings of the British Machine Vision Conference (BMVC)},
                publisher={BMVA Press},
                editor={Tae-Kyun Kim, Stefanos Zafeiriou, Gabriel Brostow and Krystian Mikolajczyk},
                doi={10.5244/C.31.158},
                isbn={1-901725-60-X},
                url={https://dx.doi.org/10.5244/C.31.158}
            }