Abstract
In this paper, we propose and evaluate various distance-aware weighting strategies to improve reconstruction accuracy of a voxel-based model according to the Truncated Signed Distance Function (TSDF), from the data obtained by low-cost depth sensors. We look at two strategy directions: (a) weight definition strategies prioritizing importance of the sensed data depending on the data accuracy, and (b) model updating strategies defining the level of influence of the new data on the existing 3D model. In particular, we introduce Distance-Aware (DA) and Distance-Aware Slow-Saturation (DASS) updating methods to intelligently integrate the depth data into the synthetic 3D model based on the distance-sensitivity metric of a low-cost depth sensor. By quantitative and qualitative comparison of the resulting synthetic 3D models to the corresponding ground-truth models, we identify the most promising strategies, which lead to an accuracy improvement involving a reduction of the model error by 10 − 35%.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Curless, B., Levoy, M.: A volumetric method for building complex models from range images. In: ACM SIGGRAPH Conf. Proceedings, New Orleans, pp. 303–312 (1996)
Engelhard, N., et al.: Real-time 3D visual SLAM with a Hand-held Camera. In: RGB-D Workshop on 3D Perception in Robotics, European Robotics Forum (2011)
Newcombe, R.A., Lovegrove, S.J., Davison, A.J.: Dense Tracking and Mapping in Real-Time. In: IEEE Int. Conf. on Computer Vision (ICCV), Spain (2011)
Steinbruecker, F., et al.: Real-Time Visual Odometry from Dense RGB-D Images. In: Live Dense Reconstruction with Moving Cameras at the ICCV (2011)
Andersen, V., et al.: Surfel Based Geometry Resonstruction. In: Theory and Practice of Computer Graphics: UK Chapter of Eurographics Association, pp. 39–44 (2010)
Chang, J.Y., et al.: GPU-friendly multi-view stereo reconstruction using surfel representation and graph cuts. In: Comput. Vis. Image Understand. (2011)
Newcombe, R.A., et al.: KinectFusion: Real-time dense surface mapping and tracking. In: IEEE Int. Symp. Mixed and Augmented Reality, vol. 7, pp. 127–136 (2011)
Izadi, S., et al.: KinectFusion: Real-time 3D Reconstruction and Interaction Using a Moving Depth Camera. In: Proc. of 24th Annual ACM UIST 2011, pp. 559–568 (2011)
Bondarev, E., et al.: On Photo-realistic 3D Reconstruction of Large-scale and Arbitrary-shaped Environments. In: CCNC. IEEE Press, Las Vegas (2013)
Whelan, T., et al.: Kintinuous: Spatially Extended KinectFusion. In: RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, Sydney, Australia (2012)
Whelan, T., et al.: Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous. In: MIT technical report, MIT-CSAIL-TR-2012-031 (2012)
Whelan, T., et al.: Robust Real-Time Visual Odometry for Dense RGB-D Mapping. In: IEEE Int. Conf. on Robotics and Automation. ICRA, Germany (2013)
Hornung, A., Wurm, et al.: OctoMap: an Efficient Probabilistic 3D Mapping Framework Based on Octrees. J. Autonomous Robots 34(3), 189–206 (2013)
Zeng, M., Zhao, F., Zheng, J., Liu, X.: A Memory-Efficient KinectFusion Using Octree. In: Hu, S.-M., Martin, R.R. (eds.) CVM 2012. LNCS, vol. 7633, pp. 234–241. Springer, Heidelberg (2012)
A large scale, open project for point cloud processing, http://pointclouds.org/
Robotic Operationg System, http://www.ros.org/wiki/
PrimeSenseTM, http://www.primesense.com/
Microsoft Kinect, http://www.xbox.com/en-us/kinect/
Asus Xtion-PRO, http://www.asus.com/Multimedia/Xtion_PRO/
CloudCompare (version 2.4) (GPL software), http://www.danielgm.net/cc/
Meilland, M., Comport, A.I.: Simultaneous super-resolution, tracking and mapping. Sophia-Antipolis, France, CNRS-I3S/UNS (2012)
Besl, P.J., McKay, N.D.: A method for registration of 3-D shapes. IEEE Transactions on Pattern Analysis and Machine Intelligence 14(2), 239–256 (1992)
Chow, J., et al.: Performance Analysis of a Low-cost Triangulation-based 3D Camera: Microsoft Kinect System. The Int.l Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences 39(pt. B5), 175–180 (2012)
Khoshelham, K.: Accuracy Analysis of Kinect Depth Data. In: Lichti, D.D., Habib, A.F. (eds.) ISPRS Workshop Laser Scanning. IAPRS XXXVIII5/W12 (2011)
Khoshelham, K., Oude Elberink, S.J.: Accuracy and Resolution of Kinect Depth Data for Indoor Mapping Applications. Sensors 12(2), 1437–1454 (2012)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Hemmat, H.J., Bondarev, E., de With, P.H.N. (2014). Exploring Distance-Aware Weighting Strategies for Accurate Reconstruction of Voxel-Based 3D Synthetic Models. In: Gurrin, C., Hopfgartner, F., Hurst, W., Johansen, H., Lee, H., O’Connor, N. (eds) MultiMedia Modeling. MMM 2014. Lecture Notes in Computer Science, vol 8325. Springer, Cham. https://doi.org/10.1007/978-3-319-04114-8_35
Download citation
DOI: https://doi.org/10.1007/978-3-319-04114-8_35
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-04113-1
Online ISBN: 978-3-319-04114-8
eBook Packages: Computer ScienceComputer Science (R0)