Monocular, Real-Time Surface Reconstruction using Dynamic Level of Detail

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Title: Monocular, Real-Time Surface Reconstruction using Dynamic Level of Detail
Authors: Zienkiewicz, J
Tsiotsios, C
Davison, AJ
Leutenegger, S
Item Type: Conference Paper
Abstract: We present a scalable, real-time capable method for robust surface reconstruction that explicitly handles multiple scales. As a monocular camera browses a scene, our algorithm processes images as they arrive and incrementally builds a detailed surface model. While most of the existing reconstruction approaches rely on volumetric or point-cloud representations of the environment, we perform depth-map and colour fusion directly into a multi-resolution triangular mesh that can be adaptively tessellated using the concept of Dynamic Level of Detail. Our method relies on least-squares optimisation, which enables a probabilistically sound and principled formulation of the fusion algorithm. We demonstrate that our method is capable of obtaining high quality, close-up reconstruction, as well as capturing overall scene geometry, while being memory and computationally efficient.
Issue Date: 19-Dec-2016
Date of Acceptance: 2-Sep-2016
URI: http://hdl.handle.net/10044/1/41818
DOI: https://dx.doi.org/10.1109/3DV.2016.82
Publisher: IEEE
Journal / Book Title: 2016 Fourth International Conference on 3D Vision (3DV)
Copyright Statement: © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor/Funder: Dyson Technology Limited
Dyson Technology Limited
Funder's Grant Number: PO 4500098215
PO 4500378543
Conference Name: International Conference on 3DVision
Keywords: Science & Technology
Technology
Engineering, Electrical & Electronic
Imaging Science & Photographic Technology
Engineering
Publication Status: Published
Start Date: 2016-10-25
Finish Date: 2016-10-28
Conference Place: Stanford, CA, USA
Open Access location: https://www.doc.ic.ac.uk/~jz4411/data/zienkiewicz_etal_3dv2016.pdf
Appears in Collections:Faculty of Engineering
Computing



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