CuFusion: Accurate Real-Time Camera Tracking and Volumetric Scene Reconstruction with a Cuboid
Given a stream of depth images with a known cuboid reference object present in the scene, we propose a novel approach for accurate camera tracking and volumetric surface reconstruction in real-time. Our contribution in this paper is threefold: (a) utilizing a priori knowledge of the precisely manufa...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2017-10-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/17/10/2260 |
| _version_ | 1811300902163709952 |
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| author | Chen Zhang Yu Hu |
| author_facet | Chen Zhang Yu Hu |
| author_sort | Chen Zhang |
| collection | DOAJ |
| description | Given a stream of depth images with a known cuboid reference object present in the scene, we propose a novel approach for accurate camera tracking and volumetric surface reconstruction in real-time. Our contribution in this paper is threefold: (a) utilizing a priori knowledge of the precisely manufactured cuboid reference object, we keep drift-free camera tracking without explicit global optimization; (b) we improve the fineness of the volumetric surface representation by proposing a prediction-corrected data fusion strategy rather than a simple moving average, which enables accurate reconstruction of high-frequency details such as the sharp edges of objects and geometries of high curvature; (c) we introduce a benchmark dataset CU3D that contains both synthetic and real-world scanning sequences with ground-truth camera trajectories and surface models for the quantitative evaluation of 3D reconstruction algorithms. We test our algorithm on our dataset and demonstrate its accuracy compared with other state-of-the-art algorithms. We release both our dataset and code as open-source (https://github.com/zhangxaochen/CuFusion) for other researchers to reproduce and verify our results. |
| first_indexed | 2024-04-13T06:58:10Z |
| format | Article |
| id | doaj.art-cd28b4ba833e40d180f83cf0bb9aa029 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T06:58:10Z |
| publishDate | 2017-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-cd28b4ba833e40d180f83cf0bb9aa0292022-12-22T02:57:11ZengMDPI AGSensors1424-82202017-10-011710226010.3390/s17102260s17102260CuFusion: Accurate Real-Time Camera Tracking and Volumetric Scene Reconstruction with a CuboidChen Zhang0Yu Hu1College of Computer Science and Technology, Zhejiang University, Hangzhou 310027, ChinaCollege of Computer Science and Technology, Zhejiang University, Hangzhou 310027, ChinaGiven a stream of depth images with a known cuboid reference object present in the scene, we propose a novel approach for accurate camera tracking and volumetric surface reconstruction in real-time. Our contribution in this paper is threefold: (a) utilizing a priori knowledge of the precisely manufactured cuboid reference object, we keep drift-free camera tracking without explicit global optimization; (b) we improve the fineness of the volumetric surface representation by proposing a prediction-corrected data fusion strategy rather than a simple moving average, which enables accurate reconstruction of high-frequency details such as the sharp edges of objects and geometries of high curvature; (c) we introduce a benchmark dataset CU3D that contains both synthetic and real-world scanning sequences with ground-truth camera trajectories and surface models for the quantitative evaluation of 3D reconstruction algorithms. We test our algorithm on our dataset and demonstrate its accuracy compared with other state-of-the-art algorithms. We release both our dataset and code as open-source (https://github.com/zhangxaochen/CuFusion) for other researchers to reproduce and verify our results.https://www.mdpi.com/1424-8220/17/10/2260real-time reconstructionSLAMKinect sensorsdepthcamerasopen source |
| spellingShingle | Chen Zhang Yu Hu CuFusion: Accurate Real-Time Camera Tracking and Volumetric Scene Reconstruction with a Cuboid Sensors real-time reconstruction SLAM Kinect sensors depth cameras open source |
| title | CuFusion: Accurate Real-Time Camera Tracking and Volumetric Scene Reconstruction with a Cuboid |
| title_full | CuFusion: Accurate Real-Time Camera Tracking and Volumetric Scene Reconstruction with a Cuboid |
| title_fullStr | CuFusion: Accurate Real-Time Camera Tracking and Volumetric Scene Reconstruction with a Cuboid |
| title_full_unstemmed | CuFusion: Accurate Real-Time Camera Tracking and Volumetric Scene Reconstruction with a Cuboid |
| title_short | CuFusion: Accurate Real-Time Camera Tracking and Volumetric Scene Reconstruction with a Cuboid |
| title_sort | cufusion accurate real time camera tracking and volumetric scene reconstruction with a cuboid |
| topic | real-time reconstruction SLAM Kinect sensors depth cameras open source |
| url | https://www.mdpi.com/1424-8220/17/10/2260 |
| work_keys_str_mv | AT chenzhang cufusionaccuraterealtimecameratrackingandvolumetricscenereconstructionwithacuboid AT yuhu cufusionaccuraterealtimecameratrackingandvolumetricscenereconstructionwithacuboid |