Presentation on theme: "KinectFusion: Real-Time Dense Surface Mapping and Tracking"— Presentation transcript:
1 KinectFusion: Real-Time Dense Surface Mapping and Tracking by Richard.A Newcombe et al.Presenting: Boaz Petersil
2 MotivationAugmented Reality3d model scanningRobot NavigationEtc..
3 Related Work Tracking (&sparse Mapping) Tracking&Mapping Kinect Fusion Bundle-adjustment(offline)PTAMTracking (&sparse Mapping)Tracking&MappingKinect FusionDTAM (RGB cam!)Dense Mapping
4 Challenges Tracking Camera Precisely Fusing and De-noising MeasurementsAvoiding DriftReal-TimeLow-Cost Hardware
5 Proposed SolutionFast Optimization for Tracking, Due to High Frame Rate.Global Framework for fusing dataInterleaving Tracking & MappingUsing Kinect to get Depth data (low cost)Using GPGPU to get Real-Time Performance (low cost)
8 TrackingFinding Camera position is the same as fitting frame’s Depth Map onto ModelTrackingMapping
9 Tracking – ICP algorithm icp = iterative closest pointGoal: fit two 3d point setsProblem: What are the correspondences?Kinect fusion chosen solution:Start withProject model onto cameraCorrespondences are points with same coordinatesFind new T with Least - SquaresApply T, and repeat 2-5 until convergenceTrackingMapping
10 Tracking – ICP algorithm Assumption: frame and model are roughly aligned.True because of high frame rateTrackingMapping
12 Mapping Mapping is Fusing depth maps when camera poses are known Problems:measurements are noisyDepth maps have holes in themSolution:using implicit surface representationFusing = estimating from all frames relevantTrackingMapping
13 Mapping – surface representation Surface is represented implicitly - using Truncated Signed Distance Function (TSDF)Voxel gridTrackingMappingNumbers in cells measure voxel distance to surface – D
23 Pros & Cons Pros: Cons : Really nice results! Elegant solution Real time performance (30 HZ)Dense modelNo drift with local optimizationRobust to scene changesElegant solutionCons :3d grid can’t be trivially up-scaled
24 Limitations doesn’t work for large areas (Voxel-Grid) Doesn’t work far away from objects (active ranging)Doesn’t work out-doors (IR)Requires powerful Graphics cardUses lots of battery (active ranging)Only one sensor at a time
25 Future Ideas Keep Voxel Grid only for near sensor aera Compress out of sensor reach model into ‘smart’ vertices map
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