2021/12/24 by Ziyu Li, Li, Ziyu, Fangyang Ye +3
Earth and Planetary Sciences · Engineering · #3D Shape Modeling and Analysis #3D Surveying and Cultural Heritage #FOS: Computer and information sciences #Multimedia (cs.MM) #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.2112.12907
openalex publication_date 2021/12/24 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
To handle the different types of surface reconstruction tasks, we have replicated as well as modified a few of reconstruction methods and have made comparisons between the traditional method and data-driven method for reconstruction the surface of an object with dense point cloud as input. On top of that, we proposed a system using tightly-coupled SLAM as an input to generate deskewed point cloud and odometry and a Truncated Signed Distance Function based Surface Reconstruction Library. To get higher accuracy, IMU(Inertial Measurement Unit) pre-integration and pose graph optimization are conduct in the SLAM part. With the help of the Robot Operating System, we could build a system containing those two parts, which can conduct a real-time outdoor surface reconstruction.