Integration of Absolute Orientation Measurements in the KinectFusion Reconstruction pipeline

Handle URI:
http://hdl.handle.net/10754/627172
Title:
Integration of Absolute Orientation Measurements in the KinectFusion Reconstruction pipeline
Authors:
Giancola, Silvio; Schneider, Jens; Wonka, Peter ( 0000-0003-0627-9746 ) ; Ghanem, Bernard ( 0000-0002-5534-587X )
Abstract:
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.
KAUST Department:
Visual Computing Center (VCC); Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division; Computer Science Program
Publisher:
arXiv
Issue Date:
12-Feb-2018
ARXIV:
arXiv:1802.03980
Type:
Preprint
Additional Links:
http://arxiv.org/abs/1802.03980v1; http://arxiv.org/pdf/1802.03980v1
Appears in Collections:
Other/General Submission; Computer Science Program; Visual Computing Center (VCC); Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division

Full metadata record

DC FieldValue Language
dc.contributor.authorGiancola, Silvioen
dc.contributor.authorSchneider, Jensen
dc.contributor.authorWonka, Peteren
dc.contributor.authorGhanem, Bernarden
dc.date.accessioned2018-02-22T10:34:41Z-
dc.date.available2018-02-22T10:34:41Z-
dc.date.issued2018-02-12en
dc.identifier.urihttp://hdl.handle.net/10754/627172-
dc.description.abstractIn 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.en
dc.publisherarXiven
dc.relation.urlhttp://arxiv.org/abs/1802.03980v1en
dc.relation.urlhttp://arxiv.org/pdf/1802.03980v1en
dc.rightsArchived with thanks to arXiven
dc.titleIntegration of Absolute Orientation Measurements in the KinectFusion Reconstruction pipelineen
dc.typePreprinten
dc.contributor.departmentVisual Computing Center (VCC)en
dc.contributor.departmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Divisionen
dc.contributor.departmentComputer Science Programen
dc.eprint.versionPre-printen
dc.identifier.arxividarXiv:1802.03980en
kaust.authorGiancola, Silvioen
kaust.authorSchneider, Jensen
kaust.authorWonka, Peteren
kaust.authorGhanem, Bernarden
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