Sparse3D: A new global model for matching sparse RGB-D dataset with small inter-frame overlap. (September 2018)

• Record Type: Journal Article
• Authors: Le, Canyu; Li, Xin
• Is Part Of: Computer aided design. Volume 102(2018)
• Page Start: 33
• Page End: 43
• Publication Date: 2018-09
• Subjects: Sparse SLAM -- Sparse RGB-D reconstruction -- Partial matching; Computer-aided design -- Periodicals; Engineering design -- Data processing -- Periodicals; Computer graphics -- Periodicals; Conception technique -- Informatique -- Périodiques; Infographie -- Périodiques; Computer graphics; Engineering design -- Data processing; Periodicals; Electronic journals; 620.00420285
• DOI: 10.1016/j.cad.2018.04.018
• Languages: English
• ISSNs: 0010-4485

Abstract

Abstract: We present a novel 3D global matching algorithm, Sparse3D, to handle the challenging reconstruction of RGB-D datasets whose inter-frame overlap is small due to insufficient temporal sampling or fast camera movement. To support a more reliable reconstruction, two major technical components are proposed: (1) pairwise alignment using a set of complementary features, and (2) a novel global model for alignment pruning and pose optimization. We examine the effectiveness of our algorithm on multiple benchmark datasets under various inter-frame overlap, and demonstrate it better reliability over existing RGB-D reconstruction algorithms. Graphical abstract: Highlights: A new robust algorithm for reconstruction from sparse RGB-D data with small inter-frame overlap. A novel global model to prune and optimize local pairwise alignment. A reconstruction model for unordered RGB-D data.