3D Reconstruction

• From (RGB –)D images to 3D voxel grid

Transformations between the different coordinate systems

TSDF

• Truncated Signed Distance Function (TSDF)
  • 3D 모델링 할떄 사용
  • Signed distance function
    • Distance of the closest zero crossing (surface)
      • 멀어지면 + , 사물 안에는 -
  • Truncated signed distance function
    • Subtract it from the distance of the voxel itself and divide by the truncation threshold
      • 즉, “0”에서 멀어지는 값들은 잘라낸다.

• Build TSDF

Overview

• From (RGB –)D images to 3D voxel grid

Raycasting

• TSDF Voxel 맵으로 부터 Normal Vectors 구하기

Results

• Volumetric TSDF Fusion of RGB D Images in Python (2018)
  • https github.com/andyzeng/tsdf fusion python
  • GPU (CUDA)
• CHISEL: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device using Spatially Hashed Signed Distance Fields (RSS 2015)
  • https:// github.com/personalrobotics/OpenChisel
  • CPU

Reference

SLAM KR