ProjectObjectReconstruction

Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

3D Object Reconstruction

3D Object Reconstruction

3D Object Reconstruction

Contact Person(s): Federico Tombari, Wadim Kehl

In industrial collaboration with:
Toyota Motor Corporation
Siemens AG

Keywords: Computer Vision

Abstract

We propose a novel 3D object reconstruction framework that is able to fully capture the accurate coloured geometry of an object using an RGB-D sensor. Building on visual odometry for trajectory estimation, we perform pose graph optimisation on collected keyframes and reconstruct the scan variationally via coloured signed distance fields. To capture the full geometry we conduct multiple scans while changing the object’s pose. After collecting all coloured fields we perform an automated dense registration over all collected scans to create one coherent model. We show on eight reconstructed real-life objects that the proposed pipeline outperforms the state-of-the-art in visual quality as well as geometrical fidelity.

Publications

2016
M. Slavcheva, S. Ilic
SDF-TAR: Parallel Tracking and Refinement in RGB-D Data using Volumetric Registration
British Machine Vision Conference (BMVC), York, UK, September 2016 (abstract) (bib)
W. Kehl, T. Holl, F. Tombari, S. Ilic, N. Navab
An Octree-Based Approach towards Efficient Variational Range Data Fusion
British Machine Vision Conference (BMVC), York, UK, September 2016 (bib)
M. Slavcheva, W. Kehl, N. Navab, S. Ilic
SDF-2-SDF: Highly Accurate 3D Object Reconstruction
European Conference on Computer Vision (ECCV), Amsterdam, The Netherlands, October 2016 (supplementary) (bib)
2014
W. Kehl, N. Navab, S. Ilic
Coloured signed distance fields for full 3D object reconstruction
British Machine Vision Conference (BMVC), Nottingham, UK, September 2014 (bib)

Team

Contact Person(s)

Federico Tombari
Dr. Federico Tombari
Wadim Kehl
M.Sc. Wadim Kehl

Working Group

Federico Tombari
Dr. Federico Tombari
Mira Slavcheva
M.Sc. Mira Slavcheva
Slobodan Ilic
Dr. Slobodan Ilic
Wadim Kehl
M.Sc. Wadim Kehl

Location



Technische Universität München
Institut für Informatik / I16
Boltzmannstr. 3
85748 Garching bei München

Tel.: +49 89 289-17058
Fax: +49 89 289-17059
Visit our lab at Garching.



internal project page

Please contact Federico Tombari, Wadim Kehl for available student projects within this research project.

Edit | Attach | Refresh | Diffs | More | Revision r1.3 - 29 Aug 2016 - 09:29 - WadimKehl

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