EFFICIENT VOLUMETRIC RECONSTRUCTION WITH DEPTH SENSORS

摘要

The invention relates to a method for real-time volumetric 3D reconstruction of an object using at least one depth sensor camera, comprising: a preparation step, in which voxels (306, 307) are collected in a reconstructed scene depending on a new depth map frame and in which the collected voxels (306, 307) are cached in order to do an update of the reconstructed scene; andan integration step, in which the collected and cached voxels (307) of the preparation step are updated with a newly captured depth map frame (403); wherein the preparation step and the integration step are separated from each other so that both steps can be carried out in parallel in the volumetric 3D reconstruction process.