CHISEL Real Time Large Scale 3D Reconstruction Onboard a Mobile Device using Spatially-Hashed Signed Distance Fields 凿子：利用空间散列有符号距离场在移动设备上实时进行大规模三维重建.pdfVIP

CHISEL : Real Time Large Scale 3D Reconstruction Onboard a Mobile Device using Spatially-Hashed Signed Distance Fields Matthew Klingensmith Ivan Dryanovski Siddhartha S. Srinivasa Carnegie Mellon Robotics Institute The Graduate Center, Carnegie Mellon Robotics Institute mklingen@ City University of New York siddh@ idryanovski@ Jizhong Xiao The City College of New York jxiao@ Abstract—We describe CHISEL : a system for real-time house- scale (300 square meter or more) dense 3D reconstruction onboard a Google Tango [1] mobile device by using a dynamic spatially-hashed truncated signed distance field[2] for mapping, and visual-inertial odometry for localization. By aggressively culling parts of the scene that do not contain surfaces, we avoid needless computation and wasted memory. Even under very noisy conditions, we produce high-quality reconstructions through the use of space carving. We are able to reconstruct and render very large scenes at a resolution of 2-3 cm in real time on a mobile device without the use of GPU computing. The user is able to view and interact with the reconstruction in real-time through an (a) CHISEL creating a map of an entire office building floor on a mobile device in real-time. intuitive interface. We provide both qualitative and quantitative results on publicly available RGB-D datasets [3], and on datasets collected in real-time from two devices. I. INTRODUCTION Recently, mobile phone manufacturers have started adding high-quali