A Framework for the Volumetric Integration of Depth Images

Understand

Volumetric models have become a popular representation for 3D scenes in recent years.

• One of the breakthroughs leading to their popularity was KinectFusion, where the focus is on 3D reconstruction using RGB-D sensors.
• However, monocular SLAM has since also been tackled with very similar approaches.
• Representing the reconstruction volumetrically as a truncated signed distance function leads to most of the simplicity and efficiency that can be achieved with GPU implementations of these systems.