Globally consistent dense 3D reconstruction with loop closure under fast camera motion

Globally consistent dense 3D reconstruction with loop closure under fast camera motion

This paper introduces a novel globally consistent dense RGB-D SLAM system designed to address the challenges of online dense reconstruction under fast camera motion. To achieve robust pose tracking and globally consistent map building, we present a random optimization pose estimation framework that...

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Bibliographic Details
Main Authors: Haigang Sui, Xuanhao Wang, Guohua Gou, Yang Ye, Han Li, Hao Zhang, Weicheng Jiang, Mingting Zhou
Format: Article
Language:English
Published: Taylor & Francis Group 2025-05-01
Series:Geo-spatial Information Science
Subjects:
Dense reconstruction
fast camera motion tracking
depth-only loop closure
voxel revisit
surface patches
Online Access:https://www.tandfonline.com/doi/10.1080/10095020.2025.2505549
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https://www.tandfonline.com/doi/10.1080/10095020.2025.2505549

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