research-article

HRBF-Fusion: Accurate 3D Reconstruction from RGB-D Data Using On-the-fly Implicits

Authors:

Liangliang Nan,

Charlie C. L. WangAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 41, Issue 3

Article No.: 35, Pages 1 - 19

https://doi.org/10.1145/3516521

Published: 28 April 2022 Publication History

Abstract

Reconstruction of high-fidelity 3D objects or scenes is a fundamental research problem. Recent advances in RGB-D fusion have demonstrated the potential of producing 3D models from consumer-level RGB-D cameras. However, due to the discrete nature and limited resolution of their surface representations (e.g., point or voxel based), existing approaches suffer from the accumulation of errors in camera tracking and distortion in the reconstruction, which leads to an unsatisfactory 3D reconstruction. In this article, we present a method using on-the-fly implicits of Hermite Radial Basis Functions (HRBFs) as a continuous surface representation for camera tracking in an existing RGB-D fusion framework. Furthermore, curvature estimation and confidence evaluation are coherently derived from the inherent surface properties of the on-the-fly HRBF implicits, which are devoted to a data fusion with better quality. We argue that our continuous but on-the-fly surface representation can effectively mitigate the impact of noise with its robustness and constrain the reconstruction with inherent surface smoothness when being compared with discrete representations. Experimental results on various real-world and synthetic datasets demonstrate that our HRBF-fusion outperforms the state-of-the-art approaches in terms of tracking robustness and reconstruction accuracy.

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Du ZRen MChu WChen N(2025)MVF-GNN: Multi-View Fusion With GNN for 3D Semantic SegmentationIEEE Robotics and Automation Letters10.1109/LRA.2025.353469310:4(3262-3269)Online publication date: Apr-2025
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Pandey AYadav VNagar RChaudhury SWooldridge MDy JNatarajan S(2024)LISRProceedings of the Thirty-Eighth AAAI Conference on Artificial Intelligence and Thirty-Sixth Conference on Innovative Applications of Artificial Intelligence and Fourteenth Symposium on Educational Advances in Artificial Intelligence10.1609/aaai.v38i5.28239(4415-4423)Online publication date: 20-Feb-2024
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Index Terms

HRBF-Fusion: Accurate 3D Reconstruction from RGB-D Data Using On-the-fly Implicits
1. Computer systems organization
  1. Dependable and fault-tolerant systems and networks
    1. Redundancy
  2. Embedded and cyber-physical systems
    1. Embedded systems
    2. Robotics
2. Networks
  1. Network properties
    1. Network reliability

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cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 41, Issue 3

June 2022

213 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/3517033

Editor:
Carol O'Sullivan
Trinity College Dublin, Ireland

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Publication History

Published: 28 April 2022

Online AM: 23 February 2022

Accepted: 01 February 2022

Revised: 01 December 2021

Received: 01 November 2020

Published in TOG Volume 41, Issue 3

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National Key Research and Development Program of China
National Natural Science Foundation of China
Natural Science Foundation of Jiangsu Province

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https://doi.org/10.1109/LRA.2025.3534693
Pandey AYadav VNagar RChaudhury SWooldridge MDy JNatarajan S(2024)LISRProceedings of the Thirty-Eighth AAAI Conference on Artificial Intelligence and Thirty-Sixth Conference on Innovative Applications of Artificial Intelligence and Fourteenth Symposium on Educational Advances in Artificial Intelligence10.1609/aaai.v38i5.28239(4415-4423)Online publication date: 20-Feb-2024
https://dl.acm.org/doi/10.1609/aaai.v38i5.28239
Yu PBao BTan ZLu G(2024)Improving Graph Collaborative Filtering with Directional Behavior Enhanced Contrastive LearningACM Transactions on Knowledge Discovery from Data10.1145/366357418:8(1-20)Online publication date: 2-May-2024
https://dl.acm.org/doi/10.1145/3663574
Peng ZYang YShao TJiang CZhou K(2024)X-SLAM: Scalable Dense SLAM for Task-aware Optimization using CSFDACM Transactions on Graphics10.1145/365823343:4(1-15)Online publication date: 19-Jul-2024
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