Large-Scale Surface Reconstruction That Is Robust Against Tracking And Mapping Errors

摘要

Depth maps of a physical space are obtained using a depth sensor carried by a rig such as a robot or a head mounted display device worn by a user. Visible light images are also obtained. The images and orientation readings are used to create a pose graph which includes nodes connected by links. The nodes are associated with different poses of the rig and the corresponding images. Links between the nodes represent correspondences between the images, and transforms between coordinate systems of the nodes. As new images are captured, the pose graph is updated to reduce an accumulation of errors. Furthermore, surfaces in the physical space can be reconstructed at any time according to the current state of the pose graph. Volumes used in a surface reconstruction process are anchored to the nodes such that the positions of the volumes are adjusted as the pose graph is updated.

主权项

1. A method for reconstructing a physical space, comprising:
obtaining a plurality of images of the physical space using a camera carried by a rig while the rig moves in the physical space through a plurality of poses; determining an orientation and a coordinate system of each pose; partitioning the physical space into a plurality of volumes; for each volume of the plurality of volumes, obtaining a depth map of the physical space using a depth sensor carried by the rig; providing a pose graph comprising a plurality of nodes and links between the nodes, each node being associated with one of the poses, one of the images associated with the one of the poses and one of the coordinate systems associated with the one of the poses, and the links defining correspondences between the images and transforms between the coordinate systems; for each volume, anchoring the volume to one of the nodes; updating a state of the pose graph as the plurality of images are obtained, the updating comprising updating one or more of the nodes and one or more of the links; and reconstructing a surface in one or more of the volumes according to the state of the pose graph.