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

M.Sc. Wadim Kehl

Working Group

Federico Tombari

M.Sc. Mira Slavcheva

Dr. Slobodan Ilic

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.