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3D Modeling on the Go: Interactive 3D Reconstruction of Large-Scale Scenes on Mobile Devices

Author: Schöps

YEar: 2015

Notes:

  • Uses a mono VIO using a fisheye with an EKF to estimate motion, then compute depth maps directly from fisheye images that are locally fused and filtered
  • works in rt on a google Tango
  • Volumetric data stored in voxels through the sum of truncated signed distance function (TSDF)
  • use plane sweep stereo directly on fisheye images
  • depth update via EKF again
  • outliers: check consistency over time, variance thresholding, angle thresholding, connected components