2011/10/16 by Shahram Izadi, David Kim, Otmar Hilliges +8 · 6 citations
Engineering · Computer Science · Earth and Planetary Sciences · #Robotics and Sensor-Based Localization #Augmented Reality Applications #3D Surveying and Cultural Heritage #Computer science #Pipeline (software) #Augmented reality #Computer vision #Planar #Computer graphics (images) #Artificial intelligence #Segmentation #3D reconstruction #Mobile device #Surface reconstruction #Tracking (education) #Surface (topology)
paper · doi:10.1145/2047196.2047270
openalex publication_date 2011/10/16 · openalex created_date 2016/06/24 · openalex updated_date 2026/07/29
KinectFusion enables a user holding and moving a standard Kinect camera to rapidly create detailed 3D reconstructions of an indoor scene. Only the depth data from Kinect is used to track the 3D pose of the sensor and reconstruct, geometrically precise, 3D models of the physical scene in real-time. The capabilities of KinectFusion, as well as the novel GPU-based pipeline are described in full. Uses of the core system for low-cost handheld scanning, and geometry-aware augmented reality and physics-based interactions are shown. Novel extensions to the core GPU pipeline demonstrate object segmentation and user interaction directly in front of the sensor, without degrading camera tracking or reconstruction. These extensions are used to enable real-time multi-touch interactions anywhere, allowing any planar or non-planar reconstructed physical surface to be appropriated for touch.