Zienkiewicz, JJZienkiewiczTsiotsios, CCTsiotsiosDavison, AJAJDavisonLeutenegger, SSLeutenegger2016-10-202016-12-192016-12-192016 Fourth International Conference on 3D Vision (3DV), 2016http://hdl.handle.net/10044/1/41818We 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.© 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.Science & TechnologyTechnologyEngineering, Electrical & ElectronicImaging Science & Photographic TechnologyEngineeringConference Paperhttps://www.dx.doi.org/10.1109/3DV.2016.82PO 4500098215PO 4500378543