Abstract

In this paper, we propose an efficient and accuratescheme for the integration of multiple stereo-based depthmeasurements. For each provided depth map a confidence-based weight is assigned to each depth estimate by eval-uating local geometry orientation, underlying camera set-ting and photometric evidence. Subsequently, all hypothe-ses are fused together into a compact and consistent 3Dmodel. Thereby, visibility conflicts are identified and re-solved, and fitting measurements are averaged with regard to their confidence scores. The individual stages of the proposed approach are validated by comparing it to two alternative techniques which rely on a conceptually differentfusion scheme and a different confidence inference, respec-tively. Pursuing live 3D reconstruction on mobile devices as a primary goal, we demonstrate that the developed method can easily be integrated into a system for monocular interactive 3D modeling by substantially improving its accuracy while adding a negligible overhead to its performance and retaining its interactive potential.