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Real-Time Globally Consistent Dense 3D Reconstruction With Online Texturing.

Lei Han, Siyuan Gu, Dawei Zhong

    IEEE Transactions on Pattern Analysis and Machine Intelligence
    |September 3, 2020
    PubMed
    Summary
    This summary is machine-generated.

    This study introduces an online 3D reconstruction method using RGBD data for detailed, globally-consistent models. It achieves realistic visualization with high-resolution textures on portable devices using only CPU power.

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    Area of Science:

    • Computer Vision
    • Computer Graphics
    • Robotics

    Background:

    • High-quality 3D reconstruction and texturing are crucial for immersive real-world perception.
    • Online computation is essential for interactive 3D reconstruction applications.
    • Existing methods often require significant computational resources, limiting their use on portable devices.

    Purpose of the Study:

    • To develop an RGBD-based, globally-consistent, dense 3D reconstruction approach with online high-resolution texture mapping.
    • To enable practical, real-time 3D reconstruction and texturing using only the CPU of a portable device.
    • To improve the visual realism and detail of reconstructed 3D environments.

    Main Methods:

    • Employs a sparse voxel sampling strategy within the geometric reconstruction pipeline.
    • Utilizes a simplified incremental Markov Random Field (MRF) solver for texture optimization.
    • Incorporates a reference-based color adjustment scheme for consistent texture colors under varying luminance.
    • Focuses on CPU-only computation for accessibility on portable devices.

    Main Results:

    • Achieves high-quality, globally-consistent dense 3D reconstruction with high-resolution textures.
    • Demonstrates realistic environmental visualization with abundant details.
    • Maintains compact memory consumption and significantly lower computational complexity compared to existing solutions.
    • Enables real-time geometric reconstruction and online texturing.

    Conclusions:

    • The proposed online 3D reconstruction scheme offers a practical and efficient solution for creating detailed, textured 3D models on portable devices.
    • The method significantly enhances the visual quality and immersiveness of 3D reconstructions while reducing computational demands.
    • This approach paves the way for wider adoption of real-time 3D reconstruction in interactive applications.