Implicit Feedback between Reconstruction and Tracking in a Combined Optimization Approach

摘要

In this work, we present a combined approach to tracking and reconstruction. An implicit feedback of 3d information to the tracking process is achieved by optimizing a single error function, instead of two separate steps. No assumptions about the error distribution of the tracker are needed in the reconstruction step either. This results in higher reconstruction accuracy and improved tracking robustness in our experimental evaluations. The approach is suited for online reconstruction and has a close to real-time performance on current computing hardware.