Simultaneous 3D tracking and reconstruction on a mobile phone
Simultaneous 3D tracking and reconstruction on a mobile phone
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DOI：
10.1109/ismar.2013.6671768
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发表时间：
2013-12
期刊：
影响因子：
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通讯作者：
V. Prisacariu;O. Kähler;D. W. Murray;I. Reid
中科院分区：
文献类型：
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作者：
V. Prisacariu;O. Kähler;D. W. Murray;I. Reid
提出了一种新颖的关节单目三维跟踪与重建框架，该框架可以处理无纹理物体、遮挡、运动模糊、背景变化和光照不完美等问题，并可以在手机上以帧率运行。该方法并行运行(i)基于水平集的姿态估计和（ii）基于连续最大流量的形状优化。通过避免水平集方法中通常使用的距离变换的全局计算，在桌面和移动电话上的跟踪速率分别超过100Hz和20Hz，而不需要GPU。通过增加来自手机惯性传感器的方向信息，可以减少跟踪的模糊性。重建涉及到从关键帧到三维体的二维图像统计的概率整合。使用逐体素后验代替标准似然，提高准确性和鲁棒性。然后使用全局最优连续最大流量求解的总变分方法施加形状一致性和紧凑性。
A novel framework for joint monocular 3D tracking and reconstruction is described that can handle untextured objects, occlusions, motion blur, changing background and imperfect lighting, and that can run at frame rate on a mobile phone. The method runs in parallel (i) level set based pose estimation and (ii) continuous max flow based shape optimisation. By avoiding a global computation of distance transforms typically used in level set methods, tracking rates here exceed 100Hz and 20Hz on a desktop and mobile phone, respectively, without needing a GPU. Tracking ambiguities are reduced by augmenting orientation information from the phone's inertial sensor. Reconstruction involves probabilistic integration of the 2D image statistics from keyframes into a 3D volume. Per-voxel posteriors are used instead of the standard likelihoods, giving increased accuracy and robustness. Shape coherency and compactness is then imposed using a total variational approach solved using globally optimal continuous max flow.