A Depth-incorporated 2D Descriptor for Robust and Efficient 3D Environment Reconstruction

作者:Zhang Kang; Zheng Shuai; Yu Wuyi; Li Xin*
来源:10th International Conference on Computer Science and Education (ICCSE), 2015-07-22 to 2015-07-24.

摘要

We develop a system to reconstruct the indoor 3D environment from a sequence of range images. The range images from different partial views of the environment are taken from a range camera while it is moving. The efficiency and accuracy of the 3D reconstruction heavily rely on the partial matching between two range images. We propose a depth-incorporated SURF keypoints and descriptors to stitch two adjacent range image frames. Finally, the stitched reconstruction result is globally optimized through a graph optimization. This effectively reduce the inevitable accumulated error introduced during the pairwise stitching procedure. F-5