A depth-incorporated 2D descriptor for robust and efficient 3D environment reconstruction

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Conference Proceeding

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We develop a system to reconstruct the indoor 3D environment from a sequence of range images. The range images from different partial views of the environment are taken from a range camera while it is moving. The efficiency and accuracy of the 3D reconstruction heavily rely on the partial matching between two range images. We propose a depth-incorporated SURF keypoints and descriptors to stitch two adjacent range image frames. Finally, the stitched reconstruction result is globally optimized through a graph optimization. This effectively reduce the inevitable accumulated error introduced during the pairwise stitching procedure. F5

Publication Source (Journal or Book title)

10th International Conference on Computer Science and Education, ICCSE 2015

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