Depth map fusion is an essential part in both stereo and RGB-D based 3-D
reconstruction pipelines. Whether produced with a passive stereo reconstruction
or using an active depth sensor, such as Microsoft Kinect, the depth maps have
noise and may have poor initial registration...
In this paper, we introduce a
method which is capable of handling outliers, and especially, even significant
registration errors. The proposed method first fuses a sequence of depth maps
into a single non-redundant point cloud so that the redundant points are merged
together by giving more weight to more certain measurements. Then, the original
depth maps are re-registered to the fused point cloud to refine the original
camera extrinsic parameters. The fusion is then performed again with the
refined extrinsic parameters. This procedure is repeated until the result is
satisfying or no significant changes happen between iterations. The method is
robust to outliers and erroneous depth measurements as well as even significant
depth map registration errors due to inaccurate initial camera poses.