Rendering and Tracking the Directional TSDF: Modeling Surface Orientation for Coherent Maps
Dense real-time tracking and mapping from RGB-D images is an important tool for many robotic applications, such as navigation or grasping. The recently presented Directional Truncated Signed Distance Function (DTSDF) is an augmentation of the regular TSDF and shows potential for more coherent maps and improved tracking performance. In this work, we present methods for rendering depth- and color maps from the DTSDF, making it a true drop-in replacement for the regular TSDF in established trackers. We evaluate and show, that our method increases re-usability of mapped scenes. Furthermore, we add color integration which notably improves color-correctness at adjacent surfaces.
Code (1)
Similar Papers 제목 키워드 기반
Rendering the Directional TSDF for Tracking and Multi-Sensor Registration with Point-To-Plane Scale ICP
Dense real-time tracking and mapping from RGB-D images is an important tool for many robotic applications, such as navigation and manipulation. The recently presented Directional Truncated Signed Distance Function (DTSDF…
Directional TSDF: Modeling Surface Orientation for Coherent Meshes
Real-time 3D reconstruction from RGB-D sensor data plays an important role in many robotic applications, such as object modeling and mapping. The popular method of fusing depth information into a truncated signed distanc…
3D ReconstructionTSDF-Sampling: Efficient Sampling for Neural Surface Field using Truncated Signed Distance Field
Multi-view neural surface reconstruction has exhibited impressive results. However, a notable limitation is the prohibitively slow inference time when compared to traditional techniques, primarily attributed to the dense…
Surface ReconstructionObjectSDF++: Improved Object-Compositional Neural Implicit Surfaces
In recent years, neural implicit surface reconstruction has emerged as a popular paradigm for multi-view 3D reconstruction. Unlike traditional multi-view stereo approaches, the neural implicit surface-based methods lever…
3D ReconstructionMulti-View 3D ReconstructionObjectObject Reconstruction+1Human Performance Modeling and Rendering via Neural Animated Mesh
We have recently seen tremendous progress in the neural advances for photo-real human modeling and rendering. However, it's still challenging to integrate them into an existing mesh-based pipeline for downstream applicat…