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Sensors 2017, 17(10), 2260; https://doi.org/10.3390/s17102260

CuFusion: Accurate Real-Time Camera Tracking and Volumetric Scene Reconstruction with a Cuboid

College of Computer Science and Technology, Zhejiang University, Hangzhou 310027, China
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Received: 6 August 2017 / Revised: 19 September 2017 / Accepted: 27 September 2017 / Published: 1 October 2017
(This article belongs to the Special Issue Imaging Depth Sensors—Sensors, Algorithms and Applications)
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Abstract

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. View Full-Text
Keywords: real-time reconstruction; SLAM; Kinect sensors; depth; cameras; open source real-time reconstruction; SLAM; Kinect sensors; depth; cameras; open source
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Zhang, C.; Hu, Y. CuFusion: Accurate Real-Time Camera Tracking and Volumetric Scene Reconstruction with a Cuboid. Sensors 2017, 17, 2260.

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