BundleFusion: Real-time Globally Consistent 3D Reconstruction using On-the-fly Surface Re-integration

Understand

Real-time, high-quality, 3D scanning of large-scale scenes is key to mixed reality and robotic applications.

• However, scalability brings challenges of drift in pose estimation, introducing significant errors in the accumulated model.
• Approaches often require hours of offline processing to globally correct model errors.
• Recent online methods demonstrate compelling results, but suffer from: (1) needing minutes to perform online correction preventing true real-time use; (2) brittle frame-to-frame (or frame-to-model) pose estimation resulting in many tracking failures; or (3) supporting only unstructured point-based representations, which limit scan quality and applicability.