Directional TSDF: Modeling Surface Orientation for Coherent Meshes

14 Aug 2019Malte SplietkerSven Behnke

Real-time 3D reconstruction from RGB-D sensor data plays an important role in many robotic applications, such as object modeling and mapping. The popular method of fusing depth information into a truncated signed distance function (TSDF) and applying the marching cubes algorithm for mesh extraction has severe issues with thin structures: not only does it lead to loss of accuracy, but it can generate completely wrong surfaces... (read more)

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