Accurate Pose Estimation of a Hand-held RGBD Camera based on Sub-volume Matching for 3D Modeling

Eung-su Kim, Soon-Yong Park

Abstract

The smoothness of the result of full body 3D reconstruction, also known as 360◦ reconstruction using a single hand-held sensor depends on the accuracy of the pose estimation. In this paper, we present a new idea for accurate pose estimation of such a single hand-held RGBD sensor based on subvolumetric reconstruction. In our method, we first estimate initial pose of both RGB and depth sensors through 3D coarse registration. Thereafter, in the precision matching step, we select only the keyframes for matching and estimate relative pose between them based on registration refinement. If there is a large pose estimation error between the keyframes, a subvolume is constructed using data of adjacent frames of each keyframe, and refine the final relative pose between keyframes using subvolume estimations. A series of 3D reconstruction experiments are preformed to evaluate the accuracy of the estimated pose.

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Paper Citation


in Harvard Style

Kim E. and Park S. (2018). Accurate Pose Estimation of a Hand-held RGBD Camera based on Sub-volume Matching for 3D Modeling.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-321-6, pages 332-335. DOI: 10.5220/0006857903320335


in Bibtex Style

@conference{icinco18,
author={Eung-su Kim and Soon-Yong Park},
title={Accurate Pose Estimation of a Hand-held RGBD Camera based on Sub-volume Matching for 3D Modeling},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2018},
pages={332-335},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006857903320335},
isbn={978-989-758-321-6},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Accurate Pose Estimation of a Hand-held RGBD Camera based on Sub-volume Matching for 3D Modeling
SN - 978-989-758-321-6
AU - Kim E.
AU - Park S.
PY - 2018
SP - 332
EP - 335
DO - 10.5220/0006857903320335