Sparse3D: A new global model for matching sparse RGB-D dataset with small inter-frame overlap
We present a novel 3D global matching algorithm, Sparse3D, to handle the challenging reconstruction of RGB-D datasets whose inter-frame overlap is small due to insufficient temporal sampling or fast camera movement. To support a more reliable reconstruction, two major technical components are proposed: (1) pairwise alignment using a set of complementary features, and (2) a novel global model for alignment pruning and pose optimization. We examine the effectiveness of our algorithm on multiple benchmark datasets under various inter-frame overlap, and demonstrate it better reliability over existing RGB-D reconstruction algorithms.
Publication Source (Journal or Book title)
CAD Computer Aided Design
Le, C., & Li, X. (2018). Sparse3D: A new global model for matching sparse RGB-D dataset with small inter-frame overlap. CAD Computer Aided Design, 102, 33-43. https://doi.org/10.1016/j.cad.2018.04.018