KinectFusion: Real-Time Dense Surface Mapping and …

kinectfusion : Real-Time Dense Surface Mapping and Tracking Richard A. NewcombeImperial College LondonShahram IzadiMicrosoft ResearchOtmar HilligesMicrosoft ResearchDavid MolyneauxMicrosoft ResearchLancaster UniversityDavid KimMicrosoft ResearchNewcastle UniversityAndrew J. DavisonImperial College LondonPushmeet KohliMicrosoft ResearchJamie ShottonMicrosoft ResearchSteve HodgesMicrosoft ResearchAndrew FitzgibbonMicrosoft ResearchFigure 1: Example output from our system , generated in Real-Time with a handheld Kinect depth camera and no other sensing maps (colour) and Phong-shaded renderings (greyscale) from our Dense reconstruction system are shown. On the left for comparisonis an example of the live, incomplete, and noisy data from the Kinect sensor (used as input to our system ).ABSTRACTWe present a system for accurate Real-Time Mapping of complex andarbitrary indoor scenes in variable lighting conditions, using only amoving low-cost depth camera and commodity graphics fuse all of the depth data streamed from a Kinect sensor intoa single global implicit Surface model of the observed scene inreal- time .

Systems - Artificial, augmented, and virtual realities This work was performed at Microsoft Research. 1 INTRODUCTION Real-time infrastructure-free tracking of a handheld camera whilst simultaneously mapping the physical scene in high-detail promises new possibilities for augmented and mixed reality applications.

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  Surfaces, System, Time, Microsoft, Mapping, Real, Dense, Kinectfusion, Real time dense surface mapping and

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