Skip to main content

Lund University Publications

LUND UNIVERSITY LIBRARIES

Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions

Bylow, Erik LU ; Sturm, Jürgen ; Kerl, Christian ; Kahl, Fredrik LU and Cremers, Daniel (2013) Robotics: Science and Systems (RSS) Conference 2013 9.
Abstract
The ability to quickly acquire 3D models is an essential capability needed in many disciplines including robotics, computer vision, geodesy, and architecture. In this paper we present a novel method for real-time camera tracking and 3D

reconstruction of static indoor environments using an RGB-D sensor. We show that by representing the geometry with a signed distance function (SDF), the camera pose can be efficiently estimated by directly minimizing the error of the depth images on the SDF. As the SDF contains the distances to the surface for

each voxel, the pose optimization can be carried out extremely fast. By iteratively estimating the camera poses and integrating the RGB-D data in the voxel grid, a detailed... (More)
The ability to quickly acquire 3D models is an essential capability needed in many disciplines including robotics, computer vision, geodesy, and architecture. In this paper we present a novel method for real-time camera tracking and 3D

reconstruction of static indoor environments using an RGB-D sensor. We show that by representing the geometry with a signed distance function (SDF), the camera pose can be efficiently estimated by directly minimizing the error of the depth images on the SDF. As the SDF contains the distances to the surface for

each voxel, the pose optimization can be carried out extremely fast. By iteratively estimating the camera poses and integrating the RGB-D data in the voxel grid, a detailed reconstruction of an indoor environment can be achieved. We present reconstructions of several rooms using a hand-held sensor and from onboard an autonomous quadrocopter. Our extensive evaluation on publicly

available benchmark data shows that our approach is more accurate and robust than the iterated closest point algorithm (ICP) used by KinectFusion, and yields often a comparable accuracy at much higher speed to feature-based bundle adjustment methods such as RGB-D SLAM for up to medium-sized scenes. (Less)
Please use this url to cite or link to this publication:
author
; ; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
Robotics: Science and Systems (RSS), Online Proceedings
volume
9
pages
8 pages
publisher
Robotics: Science and Systems
conference name
Robotics: Science and Systems (RSS) Conference 2013
conference location
Berlin, Germany
conference dates
2013-06-24 - 2013-06-28
ISSN
2330-765X
ISBN
978-981-07-3937-9
language
English
LU publication?
yes
id
afb271b3-a00a-4e99-85ce-12c885c81626 (old id 3917422)
alternative location
http://www.roboticsproceedings.org/rss09/p35.pdf
date added to LUP
2016-04-01 13:56:12
date last changed
2018-11-21 20:21:25
@inproceedings{afb271b3-a00a-4e99-85ce-12c885c81626,
  abstract     = {{The ability to quickly acquire 3D models is an essential capability needed in many disciplines including robotics, computer vision, geodesy, and architecture. In this paper we present a novel method for real-time camera tracking and 3D<br/><br>
reconstruction of static indoor environments using an RGB-D sensor. We show that by representing the geometry with a signed distance function (SDF), the camera pose can be efficiently estimated by directly minimizing the error of the depth images on the SDF. As the SDF contains the distances to the surface for<br/><br>
each voxel, the pose optimization can be carried out extremely fast. By iteratively estimating the camera poses and integrating the RGB-D data in the voxel grid, a detailed reconstruction of an indoor environment can be achieved. We present reconstructions of several rooms using a hand-held sensor and from onboard an autonomous quadrocopter. Our extensive evaluation on publicly<br/><br>
available benchmark data shows that our approach is more accurate and robust than the iterated closest point algorithm (ICP) used by KinectFusion, and yields often a comparable accuracy at much higher speed to feature-based bundle adjustment methods such as RGB-D SLAM for up to medium-sized scenes.}},
  author       = {{Bylow, Erik and Sturm, Jürgen and Kerl, Christian and Kahl, Fredrik and Cremers, Daniel}},
  booktitle    = {{Robotics: Science and Systems (RSS), Online Proceedings}},
  isbn         = {{978-981-07-3937-9}},
  issn         = {{2330-765X}},
  language     = {{eng}},
  publisher    = {{Robotics: Science and Systems}},
  title        = {{Real-Time Camera Tracking and 3D Reconstruction Using Signed Distance Functions}},
  url          = {{https://lup.lub.lu.se/search/files/3674772/3917437.pdf}},
  volume       = {{9}},
  year         = {{2013}},
}