Efficient Reconstruction of Indoor Scenes with Color
International Conference on 3-D Digital Imaging and Modeling (3DIM), October, 2003
Rui Wang, David Luebke
Abstract
In this paper we present an efficient and general approach
to computing and integrating 3D distance fields directly
from multiple range images. We compute normal and
confidence values directly from a 2D range image. We then
approximate 3D Euclidean distance by correcting the line-of-
sight distance. To integrate multiple scans, we efficiently
transform voxels of the target distance field to each scan's
local coordinate system, then update voxels with computed
distance and confidence values. Finally, we extract an isosurface from the weighted distance field using the marching cubes algorithm. We extend the same idea to the assignment of weighted colors or texture coordinates to the reconstructed model. Experiments show that our approach is
fast, has reasonable storage requirements, and can produce
high-quality surfaces from multiple range scans.