Similarity Graph-Based Camera Tracking for Effective 3D Geometry Reconstruction with Mobile RGB-D Camera
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Department of Computer Science and Engineering, Sogang University, Seoul 04107, Korea
2
Devsisters Corp., Seoul 06019, Korea
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Department of Multimedia, Dongguk University, Seoul 04620, Korea
*
Author to whom correspondence should be addressed.
Sensors 2019, 19(22), 4897; https://doi.org/10.3390/s19224897
Received: 10 October 2019
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Revised: 5 November 2019
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Accepted: 6 November 2019
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Published: 9 November 2019
(This article belongs to the Section Intelligent Sensors)
In this paper, we present a novel approach for reconstructing 3D geometry from a stream of images captured by a consumer-grade mobile RGB-D sensor. In contrast to previous real-time online approaches that process each incoming image in acquisition order, we show that applying a carefully selected order of (possibly a subset of) frames for pose estimation enables the performance of robust 3D reconstruction while automatically filtering out error-prone images. Our algorithm first organizes the input frames into a weighted graph called the similarity graph. A maximum spanning tree is then found in the graph, and its traversal determines the frames and their processing order. The basic algorithm is then extended by locally repairing the original spanning tree and merging disconnected tree components, if they exist, as much as possible, enhancing the result of 3D reconstruction. The capability of our method to generate a less error-prone stream from an input RGB-D stream may also be effectively combined with more sophisticated state-of-the-art techniques, which further increases their effectiveness in 3D reconstruction.
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Keywords:
mobile RGB-D camera; 3D geometry reconstruction; similarity graph; 6-DOF pose estimation; 3D scene modeling; mixed reality
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MDPI and ACS Style
An, J.; Lee, S.; Park, S.; Ihm, I. Similarity Graph-Based Camera Tracking for Effective 3D Geometry Reconstruction with Mobile RGB-D Camera. Sensors 2019, 19, 4897. https://doi.org/10.3390/s19224897
AMA Style
An J, Lee S, Park S, Ihm I. Similarity Graph-Based Camera Tracking for Effective 3D Geometry Reconstruction with Mobile RGB-D Camera. Sensors. 2019; 19(22):4897. https://doi.org/10.3390/s19224897
Chicago/Turabian StyleAn, Jaepung, Sangbeom Lee, Sanghun Park, and Insung Ihm. 2019. "Similarity Graph-Based Camera Tracking for Effective 3D Geometry Reconstruction with Mobile RGB-D Camera" Sensors 19, no. 22: 4897. https://doi.org/10.3390/s19224897
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