Comprehensive Use of Curvature for Robust and Accurate Online Surface Reconstruction

Lefloch D, Kluge M, Sarbolandi H, Weyrich T, Kolb A (2017)

Publication Type: Journal article

Publication year: 2017

Journal

IEEE Transactions on Pattern Analysis and Machine Intelligence Institute of Electrical and Electronics Engineers (IEEE)

Book Volume: 39

Pages Range: 2349-2365

Article Number: 7807268

Journal Issue: 12

DOI: 10.1109/TPAMI.2017.2648803

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.

Authors with CRIS profile

Tim Weyrich

Involved external institutions

Universität Siegen DE Germany (DE) University College London (UCL) GB United Kingdom (GB)

How to cite

APA:

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), 2349-2365. https://dx.doi.org/10.1109/TPAMI.2017.2648803

MLA:

Lefloch, Damien, et al. "Comprehensive Use of Curvature for Robust and Accurate Online Surface Reconstruction." IEEE Transactions on Pattern Analysis and Machine Intelligence 39.12 (2017): 2349-2365.

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