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Robust dense reconstruction by range merging based on confidence estimation

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Abstract

Although the stereo matching problem has been extensively studied during the past decades, automatically computing a dense 3D reconstruction from several multiple views is still a difficult task owing to the problems of textureless regions, outliers, detail loss, and various other factors. In this paper, these difficult problems are handled effectively by a robust model that outputs an accurate and dense reconstruction as the final result from an input of multiple images captured by a normal camera. First, the positions of the camera and sparse 3D points are estimated by a structure-from-motion algorithm and we compute the range map with a confidence estimation for each image in our approach. Then all the range maps are integrated into a fine point cloud data set. In the final step we use a Poisson reconstruction algorithm to finish the reconstruction. The major contributions of the work lie in the following points: effective range-computation and confidence-estimation methods are proposed to handle the problems of textureless regions, outliers and detail loss. Then, the range maps are merged into the point cloud data in terms of a confidence-estimation. Finally, Poisson reconstruction algorithm completes the dense mesh. In addition, texture mapping is also implemented as a post-processing work for obtaining good visual effects. Experimental results are presented to demonstrate the effectiveness of the proposed approach.

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Authors and Affiliations

  1. School of Computer and Software, Nanjing University of Information Science and Technology, Nanjing, 210044, China

    Yadang Chen

  2. School of Education Science and Technology, Nanjing University of Posts and Telecommunications, Nanjing, 210023, China

    Chuanyan Hao

  3. Department of Computer and Information Science, Faculty of Science and Technology, University of Macau, Macau, 999078, China

    Yadang Chen, Chuanyan Hao, Wen Wu & Enhua Wu

  4. State Key Laboratory of Computer Science, Institute of Software, Chinese Academy of Sciences, Beijing, 100864, China

    Enhua Wu

Authors
  1. Yadang Chen
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  2. Chuanyan Hao
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  3. Wen Wu
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  4. Enhua Wu
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Corresponding author

Correspondence to Chuanyan Hao.

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Chen, Y., Hao, C., Wu, W. et al. Robust dense reconstruction by range merging based on confidence estimation. Sci. China Inf. Sci. 59, 092103 (2016). https://doi.org/10.1007/s11432-015-0957-4

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  • DOI: https://doi.org/10.1007/s11432-015-0957-4

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