Efficient Online Surface Correction for Real-time Large-Scale 3D Reconstruction

State-of-the-art methods for large-scale 3D reconstruction from RGB-D sensors usually reduce drift in camera tracking by globally optimizing the estimated camera poses in real-time without simultaneously updating the reconstructed surface on pose changes. We propose an efficient on-the-fly surface correction method for globally consistent dense 3D reconstruction of large-scale scenes. Our approach uses a dense Visual RGB-D SLAM system that estimates the camera motion in real-time on a CPU and refines it in a global pose graph optimization. Consecutive RGB-D frames are locally fused into keyframes, which are incorporated into a sparse voxel hashed Signed Distance Field (SDF) on the GPU. On pose graph updates, the SDF volume is corrected on-the-fly using a novel keyframe re-integration strategy with reduced GPU-host streaming. We demonstrate in an extensive quantitative evaluation that our method is up to 93% more runtime efficient compared to the state-of-the-art and requires significantly less memory, with only negligible loss of surface quality. Overall, our system requires only a single GPU and allows for real-time surface correction of large environments.Comment: British Machine Vision Conference (BMVC), London, September 201

Additional file 1: of Assessment of pre-injury health-related quality of life: a systematic review

Data_Assessment of pre-injury health-related quality of life: a systematic review. (XLSX 59 kb

Nitchu kankei ni okeru keizaikai no tachiba to yakuwari : shuyo gyokai no kokusai senryaku o chushin ni (shinsa hokoku)

<p>a. BSHS-B domain scores for six domains for seventeen studies. b. BSHS-B domain scores for three domains for seventeen studies.</p

Additional file 1: of Predictors of health-related quality of life after burn injuries: a systematic review

Search strategy. (DOCX 24 kb

Top ten injuries with highest disability in the Netherlands by accident category (2007–2011)¹.

<p>Top ten injuries with highest disability in the Netherlands by accident category (2007–2011)^{<a href="http://www.plosone.org/article/info:doi/10.1371/journal.pone.0110905#nt109" target="_blank">1</a>}.</p

Additional file 2: of Predictors of health-related quality of life after burn injuries: a systematic review

Summary of 19 multivariable predictive studies of HRQL in adult burn patients according to time assessment points. (DOCX 43 kb

Health related quality of life in adults after burn injuries: A systematic review - Fig 5

<p>a. BSHS-B domain scores for six domains for seventeen studies. b. BSHS-B domain scores for three domains for seventeen studies.</p

Study characteristics of 94 studies measuring HRQL in adult burn patients.

<p>Study characteristics of 94 studies measuring HRQL in adult burn patients.</p

Instruments used to measure health-related quality of life in >1 study.

<p>BSHS-B = Burn Specific Health Scale—Brief, SF-36 = Medical Outcome Study Short Form—36 items, EQ-5D = EuroQol five dimensions questionnaire, BSHS = Burn Specific Health Scale, BSHS-A = Burn Specific Health Scale—Abbreviated, BSHS-R = Burn Specific Health Scale Revised, 15D = 15-dimensional health-related quality of life instrument, QLQ = Quality of Life Questionnaire, SF-12 = Medical Outcome Study Short Form—12 items, QOLS = Quality of Life Scale, WHOQOL-BREF = World Health Organization Quality of Life—BREF, YABOQ = Young Adult Burn Outcome Questionnaire.</p

Number of leprosy patients arising from contacts after 2 years according to physical distance of the contacts to the index patient, by intervention (standard treatment <i>vs.</i> chemoprophylaxis).

<p>Number of leprosy patients arising from contacts after 2 years according to physical distance of the contacts to the index patient, by intervention (standard treatment <i>vs.</i> chemoprophylaxis).</p