DFusion: Denoised TSDF Fusion of Multiple Depth Maps with Sensor Pose Noises

Sensors

Masayuki Kanbara¹  Zhaofeng Niu¹  Hirokazu Kato¹  Taishi Sawabe¹  Yuichiro Fujimoto¹ 

[1] Nara Institute of Science and Technology (NAIST), Ikoma 630-0192, Nara, Japan;

关键词: depth fusion;    TSDF;    sensor noises;   

DOI  :  10.3390/s22041631

来源: DOAJ

【 摘 要 】

The truncated signed distance function (TSDF) fusion is one of the key operations in the 3D reconstruction process. However, existing TSDF fusion methods usually suffer from the inevitable sensor noises. In this paper, we propose a new TSDF fusion network, named DFusion, to minimize the influences from the two most common sensor noises, i.e., depth noises and pose noises. To the best of our knowledge, this is the first depth fusion for resolving both depth noises and pose noises. DFusion consists of a fusion module, which fuses depth maps together and generates a TSDF volume, as well as the following denoising module, which takes the TSDF volume as the input and removes both depth noises and pose noises. To utilize the 3D structural information of the TSDF volume, 3D convolutional layers are used in the encoder and decoder parts of the denoising module. In addition, a specially-designed loss function is adopted to improve the fusion performance in object and surface regions. The experiments are conducted on a synthetic dataset as well as a real-scene dataset. The results prove that our method outperforms existing methods.

【 授权许可】

Unknown