Joint Representation of Primitive and Non-primitive Objects for 3D Vision

摘要

The use of structural information in 3D scanning is becoming more and more popular. However, most approaches exploit this structural information either in the form of geometric primitives (mostly planes) or known rigid bodies, but not both. We overcome this limitation and propose an object representation that combines primitive and non-primitive objects using one unified formulation that is based on signed distance fields. Object pose manifolds are introduced to represent the rigid movement of primitives and non-primitives in a natural way. We show that different components of volumetric scanning, such as global trajectory optimization or geometry completion and denoising, benefit from our formulation.