TY - GEN
T1 - Integration of Absolute Orientation Measurements in the KinectFusion Reconstruction Pipeline
AU - Giancola, Silvio
AU - Schneider, Jens
AU - Wonka, Peter
AU - Ghanem, Bernard
N1 - KAUST Repository Item: Exported on 2020-10-01
Acknowledgements: This work was supported by the King Abdullah University of Science and Technology (KAUST) Office of Sponsored Research and the Visual Computing Center (VCC).
PY - 2018/12/18
Y1 - 2018/12/18
N2 - In this paper, we show how absolute orientation measurements provided by low-cost but high-fidelity IMU sensors can be integrated into the KinectFusion pipeline. We show that integration improves both runtime, robustness and quality of the 3D reconstruction. In particular, we use this orientation data to seed and regularize the ICP registration technique. We also present a technique to filter the pairs of 3D matched points based on the distribution of their distances. This filter is implemented efficiently on the GPU. Estimating the distribution of the distances helps control the number of iterations necessary for the convergence of the ICP algorithm. Finally, we show experimental results that highlight improvements in robustness, a speed-up of almost 12%, and a gain in tracking quality of 53% for the ATE metric on the Freiburg benchmark.
AB - In this paper, we show how absolute orientation measurements provided by low-cost but high-fidelity IMU sensors can be integrated into the KinectFusion pipeline. We show that integration improves both runtime, robustness and quality of the 3D reconstruction. In particular, we use this orientation data to seed and regularize the ICP registration technique. We also present a technique to filter the pairs of 3D matched points based on the distribution of their distances. This filter is implemented efficiently on the GPU. Estimating the distribution of the distances helps control the number of iterations necessary for the convergence of the ICP algorithm. Finally, we show experimental results that highlight improvements in robustness, a speed-up of almost 12%, and a gain in tracking quality of 53% for the ATE metric on the Freiburg benchmark.
UR - http://hdl.handle.net/10754/627172
UR - https://ieeexplore.ieee.org/document/8575358
UR - http://www.scopus.com/inward/record.url?scp=85060875236&partnerID=8YFLogxK
U2 - 10.1109/CVPRW.2018.00198
DO - 10.1109/CVPRW.2018.00198
M3 - Conference contribution
SN - 9781538661000
SP - 1567
EP - 1576
BT - 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)
PB - Institute of Electrical and Electronics Engineers (IEEE)
ER -