Dense reconstruction on-the-fly

Authors:
Horst Bischof
Affiliations:
Institute for Computer Graphics and Vision, Graz University of Technology, Austria
Venue:
CVPR '12 Proceedings of the 2012 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
Year:
2012

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Abstract

We present a novel system that is capable of generating live dense volumetric reconstructions based on input from a micro aerial vehicle. The distributed reconstruction pipeline is based on state-of-the-art approaches to visual SLAM and variational depth map fusion, and is designed to exploit the individual capabilities of the system components. Results are visualized in real-time on a tablet interface, which gives the user the opportunity to interact. We demonstrate the performance of our approach by capturing several indoor and outdoor scenes on-the-fly and by evaluating our results with respect to a ground-truth model.