A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Object modelling by registration of multiple range images
Image and Vision Computing - Special issue: range image understanding
A volumetric method for building complex models from range images
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Implicit surface-based geometric fusion
Computer Vision and Image Understanding - Special issue on CAD-based computer vision
Weights for computing vertex normals from facet normals
Journal of Graphics Tools
Geometric fusion for a hand-held 3D sensor
Machine Vision and Applications
A survey of free-form object representation and recognition techniques
Computer Vision and Image Understanding
Real-time 3D model acquisition
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Registration of 3-D partial surface models using luminance and depth information
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
Registration and integration of textured 3-D data
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
The space of human body shapes: reconstruction and parameterization from range scans
ACM SIGGRAPH 2003 Papers
Multi-Feature Matching Algorithm for Free-Form 3D Surface Registration
ICPR '98 Proceedings of the 14th International Conference on Pattern Recognition-Volume 2 - Volume 2
A Unified Representation for Interactive 3D Modeling
3DPVT '04 Proceedings of the 3D Data Processing, Visualization, and Transmission, 2nd International Symposium
Accurate 3D Acquisition of Freely Moving Objects
3DPVT '04 Proceedings of the 3D Data Processing, Visualization, and Transmission, 2nd International Symposium
High-Resolution, Real-time 3D Shape Acquisition
CVPRW '04 Proceedings of the 2004 Conference on Computer Vision and Pattern Recognition Workshop (CVPRW'04) Volume 3 - Volume 03
Adaptive Scanning for Online 3D Model Acquisition
CVPRW '04 Proceedings of the 2004 Conference on Computer Vision and Pattern Recognition Workshop (CVPRW'04) Volume 3 - Volume 03
Real-Time Connectivity Constrained Depth Map Computation Using Programmable Graphics Hardware
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Range Data Registration Using Photometric Features
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
Interactive Modeling with Automatic Online Compression
3DPVT '06 Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission (3DPVT'06)
ACM SIGGRAPH 2007 papers
Embedded deformation for shape manipulation
ACM SIGGRAPH 2007 papers
Global registration of multiple 3D point sets via optimization-on-a-manifold
SGP '05 Proceedings of the third Eurographics symposium on Geometry processing
Poisson surface reconstruction
SGP '06 Proceedings of the fourth Eurographics symposium on Geometry processing
As-rigid-as-possible surface modeling
SGP '07 Proceedings of the fifth Eurographics symposium on Geometry processing
On Linear Variational Surface Deformation Methods
IEEE Transactions on Visualization and Computer Graphics
Multiview registration for large data sets
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
SURF: speeded up robust features
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Dense scene reconstruction with points of interest
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
KinectAvatar: fully automatic body capture using a single kinect
ACCV'12 Proceedings of the 11th international conference on Computer Vision - Volume 2
ACM Transactions on Graphics (TOG)
Multi-resolution surfel maps for efficient dense 3D modeling and tracking
Journal of Visual Communication and Image Representation
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We present a real-time interactive 3D scanning system that allows users to scan complete object geometry by turning the object around in front of a real-time 3D range scanner. The incoming 3D surface patches are registered and integrated into an online 3D point cloud. In contrast to previous systems the online reconstructed 3D model also serves as final result. Registration error accumulation which leads to the well-known loop closure problem is addressed already during the scanning session by distorting the object as rigidly as possible. Scanning errors are removed by explicitly handling outliers based on visibility constraints. Thus, no additional post-processing is required which otherwise might lead to artifacts in the model reconstruction. Both geometry and texture are used for registration which allows for a wide range of objects with different geometric and photometric properties to be scanned. We show the results of our modeling approach on several difficult real-world objects. Qualitative and quantitative results are given for both synthetic and real data demonstrating the importance of online loop closure and outlier handling for model reconstruction. We show that our real-time scanning system has comparable accuracy to offline methods with the additional benefit of immediate feedback and results.