DeepAI AI Chat
Log In Sign Up

Directional TSDF: Modeling Surface Orientation for Coherent Meshes

08/14/2019
by   Malte Splietker, et al.
University of Bonn
1

Real-time 3D reconstruction from RGB-D sensor data plays an important role in many robotic applications, such as object modeling and mapping. The popular method of fusing depth information into a truncated signed distance function (TSDF) and applying the marching cubes algorithm for mesh extraction has severe issues with thin structures: not only does it lead to loss of accuracy, but it can generate completely wrong surfaces. To address this, we propose the directional TSDF - a novel representation that stores opposite surfaces separate from each other. The marching cubes algorithm is modified accordingly to retrieve a coherent mesh representation. We further increase the accuracy by using surface gradient-based ray casting for fusing new measurements. We show that our method outperforms state-of-the-art TSDF reconstruction algorithms in mesh accuracy.

READ FULL TEXT

page 1

page 2

page 6

page 7

08/18/2021

Rendering and Tracking the Directional TSDF: Modeling Surface Orientation for Coherent Maps

Dense real-time tracking and mapping from RGB-D images is an important t...
06/01/2022

CD^2: Fine-grained 3D Mesh Reconstruction with Twice Chamfer Distance

Monocular 3D reconstruction is to reconstruct the shape of object and it...
01/30/2023

Rendering the Directional TSDF for Tracking and Multi-Sensor Registration with Point-To-Plane Scale ICP

Dense real-time tracking and mapping from RGB-D images is an important t...
04/01/2021

NeuralRecon: Real-Time Coherent 3D Reconstruction from Monocular Video

We present a novel framework named NeuralRecon for real-time 3D scene re...
02/05/2021

Foldover-free maps in 50 lines of code

Mapping a triangulated surface to 2D space (or a tetrahedral mesh to 3D ...
08/11/2021

Efficient Surfel Fusion Using Normalised Information Distance

We present a new technique that achieves a significant reduction in the ...
02/15/2022

Random Walks for Adversarial Meshes

A polygonal mesh is the most-commonly used representation of surfaces in...