De-noising, Stabilizing and Completing 3D Reconstructions On-the-go using Plane Priors

Understand

Creating 3D maps on robots and other mobile devices has become a reality in recent years.

• Online 3D reconstruction enables many exciting applications in robotics and AR/VR gaming.
• However, the reconstructions are noisy and generally incomplete.
• Moreover, during onine reconstruction, the surface changes with every newly integrated depth image which poses a significant challenge for physics engines and path planning algorithms.