PlaneMatch: Patch Coplanarity Prediction for Robust RGB-D Reconstruction Yifei Shi, Kai Xu, Matthias Niessner, Szymon Rusinkiewicz, Thomas Funkhouser Princeton University National University of Defense Technology Technical University of Munich Google
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PlaneMatch: Patch Coplanarity Prediction for …PlaneMatch: Patch Coplanarity Prediction for Robust RGB-D Reconstruction Yifei Shi, Kai Xu, Matthias Niessner, Szymon Rusinkiewicz,
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PlaneMatch: Patch Coplanarity Prediction for Robust RGB-D Reconstruction
Yifei Shi, Kai Xu, Matthias Niessner, Szymon Rusinkiewicz,
Thomas Funkhouser
Princeton University National University of Defense Technology
Technical University of Munich Google
RGB-D Reconstruction
Microsoft Kinect Structure Sensor Xtion
RGB-D ReconstructionB
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RGB-D Reconstruction
BundleFusion[Dai et al. 2017]
ElasticFusion[Whelan et al. 2016]
VoxelHashing[Niessner et al. 2013]
KinectFusion[Newcombe/Izadi et al. 2011]
Robust Recon.[Choi et al. 2015]
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Loop Closure
Loop Closure -> Feature Descriptor
RGB Features:
- SIFT, SURF, ORB, Freak, …
- LIFT, MatchNet, …
Geometric Features:
- SHOT, FPFH, SpinImages, …
- 3DMatch, …
Are there additional primitives?
Keypoint-based
Our Idea: Planar Feature Descriptors
Coplanar
Surface
Patches
Existing Planar Matching is Local
Online Structure Analysis [Zhang et al. 2015]
Fine-to-Coarse Registration [Halber and Funkhouser 2017]