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Similarity Graph-Based Camera Tracking for Effective 3D Geometry Reconstruction with Mobile RGB-D Camera
- Source :
- Sensors, Volume 19, Issue 22, Sensors (Basel, Switzerland), Sensors, Vol 19, Iss 22, p 4897 (2019)
- Publication Year :
- 2019
- Publisher :
- Multidisciplinary Digital Publishing Institute, 2019.
-
Abstract
- In this paper, we present a novel approach for reconstructing 3D geometry from a stream of images captured by a consumer-grade mobile RGB-D sensor. In contrast to previous real-time online approaches that process each incoming image in acquisition order, we show that applying a carefully selected order of (possibly a subset of) frames for pose estimation enables the performance of robust 3D reconstruction while automatically filtering out error-prone images. Our algorithm first organizes the input frames into a weighted graph called the similarity graph. A maximum spanning tree is then found in the graph, and its traversal determines the frames and their processing order. The basic algorithm is then extended by locally repairing the original spanning tree and merging disconnected tree components, if they exist, as much as possible, enhancing the result of 3D reconstruction. The capability of our method to generate a less error-prone stream from an input RGB-D stream may also be effectively combined with more sophisticated state-of-the-art techniques, which further increases their effectiveness in 3D reconstruction.
- Subjects :
- 0209 industrial biotechnology
Computer science
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
02 engineering and technology
6-DOF pose estimation
lcsh:Chemical technology
Biochemistry
Article
Analytical Chemistry
020901 industrial engineering & automation
0202 electrical engineering, electronic engineering, information engineering
3D geometry reconstruction
lcsh:TP1-1185
Computer vision
3d geometry
Electrical and Electronic Engineering
Instrumentation
Pose
mixed reality
mobile RGB-D camera
Spanning tree
business.industry
3D reconstruction
similarity graph
020207 software engineering
Atomic and Molecular Physics, and Optics
Graph
3D scene modeling
Tree traversal
Graph (abstract data type)
RGB color model
Artificial intelligence
business
Subjects
Details
- Language :
- English
- ISSN :
- 14248220
- Database :
- OpenAIRE
- Journal :
- Sensors
- Accession number :
- edsair.doi.dedup.....17ab7563d42fc549ecb9d0f3c5a8ba2b
- Full Text :
- https://doi.org/10.3390/s19224897