Scalable real-time volumetric surface reconstruction
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
Real-time 3D reconstruction at scale using voxel hashing
ACM Transactions on Graphics (TOG)
Noise-adaptive shape reconstruction from raw point sets
SGP '13 Proceedings of the Eleventh Eurographics/ACMSIGGRAPH Symposium on Geometry Processing
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We contribute an empirically derived noise model for the Kinect sensor. We systematically measure both lateral and axial noise distributions, as a function of both distance and angle of the Kinect to an observed surface. The derived noise model can be used to filter Kinect depth maps for a variety of applications. Our second contribution applies our derived noise model to the KinectFusion system to extend filtering, volumetric fusion, and pose estimation within the pipeline. Qualitative results show our method allows reconstruction of finer details and the ability to reconstruct smaller objects and thinner surfaces. Quantitative results also show our method improves pose estimation accuracy.