Abstract

A system capable of performing robust online volumetric reconstruction of indoor scenes based on input from a handheld RGB-D camera is presented. Our system is powered by a two-pass reconstruction scheme. The first pass tracks camera poses at video rate and simultaneously constructs a pose graph on-the-fly. The tracker operates in real-time, which allows the reconstruction results to be visualized during the scanning process. Live visual feedbacks makes the scanning operation fast and intuitive. Upon termination of scanning, the second pass takes place to handle loop closures and reconstruct the final model using globally refined camera trajectories. The system is online with low delay and returns a dense model of sufficient accuracy. The beauty of this system lies in its speed, accuracy, simplicity and ease of implementation when compared to previous methods. We demonstrate the performance of our system on several real-world scenes and quantitatively assess the modeling accuracy with respect to ground truth models obtained from a LIDAR scanner.