Generating octree models of 3D objects from their silhouettes in a sequence of images
Computer Vision, Graphics, and Image Processing
Marching cubes: A high resolution 3D surface construction algorithm
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
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
Surface reconstruction from unorganized points
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Object modelling by registration of multiple range images
Image and Vision Computing - Special issue: range image understanding
Hierarchical Z-buffer visibility
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
Rapid octree construction from image sequences
CVGIP: Image Understanding
Zippered polygon meshes from range images
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Building 3-D models from unregistered range images
Graphical Models and Image Processing
A volumetric method for building complex models from range images
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Interactive ray tracing for isosurface rendering
Proceedings of the conference on Visualization '98
Implicit surface-based geometric fusion
Computer Vision and Image Understanding - Special issue on CAD-based computer vision
The digital Michelangelo project: 3D scanning of large statues
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Adaptively sampled distance fields: a general representation of shape for computer graphics
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Real-time 3D model acquisition
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Reliable Surface Reconstructiuon from Multiple Range Images
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
Consensus Surfaces for Modeling 3D Objects from Multiple Range Images
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Visual Modeling with a Hand-Held Camera
International Journal of Computer Vision
A Comparison and Evaluation of Multi-View Stereo Reconstruction Algorithms
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Poisson surface reconstruction
SGP '06 Proceedings of the fourth Eurographics symposium on Geometry processing
Voronoi-based variational reconstruction of unoriented point sets
SGP '07 Proceedings of the fifth Eurographics symposium on Geometry processing
Multilevel streaming for out-of-core surface reconstruction
SGP '07 Proceedings of the fifth Eurographics symposium on Geometry processing
Detailed Real-Time Urban 3D Reconstruction from Video
International Journal of Computer Vision
GigaVoxels: ray-guided streaming for efficient and detailed voxel rendering
Proceedings of the 2009 symposium on Interactive 3D graphics and games
Efficient sparse voxel octrees
Proceedings of the 2010 ACM SIGGRAPH symposium on Interactive 3D Graphics and Games
Data-Parallel Octrees for Surface Reconstruction
IEEE Transactions on Visualization and Computer Graphics
Fusion of depth maps with multiple scales
Proceedings of the 2011 SIGGRAPH Asia Conference
KinectFusion: real-time 3D reconstruction and interaction using a moving depth camera
Proceedings of the 24th annual ACM symposium on User interface software and technology
KinectFusion: Real-time dense surface mapping and tracking
ISMAR '11 Proceedings of the 2011 10th IEEE International Symposium on Mixed and Augmented Reality
DTAM: Dense tracking and mapping in real-time
ICCV '11 Proceedings of the 2011 International Conference on Computer Vision
Modeling Kinect Sensor Noise for Improved 3D Reconstruction and Tracking
3DIMPVT '12 Proceedings of the 2012 Second International Conference on 3D Imaging, Modeling, Processing, Visualization & Transmission
Octree-based fusion for realtime 3D reconstruction
Graphical Models
An interactive system for set reconstruction from multiple input sources
Proceedings of the Symposium on Digital Production
Real-time 3D reconstruction at scale using voxel hashing
ACM Transactions on Graphics (TOG)
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We address the fundamental challenge of scalability for real-time volumetric surface reconstruction methods. We design a memory efficient, hierarchical data structure for commodity graphics hardware, which supports live reconstruction of large-scale scenes with fine geometric details. Our sparse data structure fuses overlapping depth maps from a moving depth camera into a single volumetric representation, from which detailed surface models are extracted. Our hierarchy losslessly streams data bidirectionally between GPU and host, allowing for unbounded reconstructions. Our pipeline, comprised of depth map post-processing, camera pose estimation, volumetric fusion, surface extraction, and streaming, runs entirely in real-time. We experimentally demonstrate that a shallow hierarchy with relatively large branching factors yields the best memory/speed tradeoff, consuming an order of magnitude less memory than a regular grid. We compare an implementation of our data structure to existing methods and demonstrate higher-quality reconstructions on a variety of large-scale scenes, all captured in real-time.