3D Algos Reconstruction KinectFusion

[junxnone]

KinectFusion

• 通过低成本深度摄像机获取的深度图进行三维重建

Pipeline

Pipeline	Description
Depth Map Conversion (Measurement)	深度图转点云
Camera Tracking (Pose Estimation)	ICP 配准求相对位姿
Volumetric Integration (Update Reconstruction)	重建物体表面
Raycasting (Surface Prediction)	渲染

x	两篇 paper 中的 pipeline
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Reference

• 2011 KinectFusion KinectFusion: Real-time 3D Reconstruction and Interaction Using a Moving Depth Camera [paper] [code]
• 2011 KinectFusion: Real-Time Dense Surface Mapping and Tracking
• 啥是KinectFusion