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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| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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Taylor & Francis Group
2025-05-01
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| Series: | Geo-spatial Information Science |
| Subjects: | |
| Online Access: | https://www.tandfonline.com/doi/10.1080/10095020.2025.2505549 |
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| _version_ | 1850185007388164096 |
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| author | Haigang Sui Xuanhao Wang Guohua Gou Yang Ye Han Li Hao Zhang Weicheng Jiang Mingting Zhou |
| author_facet | Haigang Sui Xuanhao Wang Guohua Gou Yang Ye Han Li Hao Zhang Weicheng Jiang Mingting Zhou |
| author_sort | Haigang Sui |
| collection | DOAJ |
| description | 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 integrates both geometric and photometric information. Furthermore, we propose a voxel revisitation-based loop closure detection scheme that relies solely on depth maps. Innovatively, we introduce a local curvature feature, to address loop closure detection when photometric information is unavailable, efficiently extracting 3D geometric information directly from 2D images. In addition, we leverage voxel revisitation observations to accelerate the search for potential loop closures. This is achieved by maintaining a dynamic active map and detecting voxel outflow or revisits, thereby enhancing loop closure detection efficiency. This method is the first voxel revisitation-based loop closure detection scheme that relies entirely on depth information. Combined with a random optimization pose estimation framework utilizing both geometric and photometric features, it adapts well to fast camera motion, enabling accurate and globally consistent dense map construction. Extensive evaluations on public datasets demonstrate the effectiveness of our method under fast camera motion and highlight its significant advantages over existing methods. |
| format | Article |
| id | doaj-art-8ee8e96135704f13ba8a358fb6927ea1 |
| institution | OA Journals |
| issn | 1009-5020 1993-5153 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | Geo-spatial Information Science |
| spelling | doaj-art-8ee8e96135704f13ba8a358fb6927ea12025-08-20T02:16:50ZengTaylor & Francis GroupGeo-spatial Information Science1009-50201993-51532025-05-0112310.1080/10095020.2025.2505549Globally consistent dense 3D reconstruction with loop closure under fast camera motionHaigang Sui0Xuanhao Wang1Guohua Gou2Yang Ye3Han Li4Hao Zhang5Weicheng Jiang6Mingting Zhou7State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University, Wuhan, ChinaState Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University, Wuhan, ChinaState Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University, Wuhan, ChinaState Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University, Wuhan, ChinaState Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University, Wuhan, ChinaState Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University, Wuhan, ChinaState Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University, Wuhan, ChinaState Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing, Wuhan University, Wuhan, ChinaThis 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 integrates both geometric and photometric information. Furthermore, we propose a voxel revisitation-based loop closure detection scheme that relies solely on depth maps. Innovatively, we introduce a local curvature feature, to address loop closure detection when photometric information is unavailable, efficiently extracting 3D geometric information directly from 2D images. In addition, we leverage voxel revisitation observations to accelerate the search for potential loop closures. This is achieved by maintaining a dynamic active map and detecting voxel outflow or revisits, thereby enhancing loop closure detection efficiency. This method is the first voxel revisitation-based loop closure detection scheme that relies entirely on depth information. Combined with a random optimization pose estimation framework utilizing both geometric and photometric features, it adapts well to fast camera motion, enabling accurate and globally consistent dense map construction. Extensive evaluations on public datasets demonstrate the effectiveness of our method under fast camera motion and highlight its significant advantages over existing methods.https://www.tandfonline.com/doi/10.1080/10095020.2025.2505549Dense reconstructionfast camera motion trackingdepth-only loop closurevoxel revisitsurface patches |
| spellingShingle | Haigang Sui Xuanhao Wang Guohua Gou Yang Ye Han Li Hao Zhang Weicheng Jiang Mingting Zhou Globally consistent dense 3D reconstruction with loop closure under fast camera motion Geo-spatial Information Science Dense reconstruction fast camera motion tracking depth-only loop closure voxel revisit surface patches |
| title | Globally consistent dense 3D reconstruction with loop closure under fast camera motion |
| title_full | Globally consistent dense 3D reconstruction with loop closure under fast camera motion |
| title_fullStr | Globally consistent dense 3D reconstruction with loop closure under fast camera motion |
| title_full_unstemmed | Globally consistent dense 3D reconstruction with loop closure under fast camera motion |
| title_short | Globally consistent dense 3D reconstruction with loop closure under fast camera motion |
| title_sort | globally consistent dense 3d reconstruction with loop closure under fast camera motion |
| topic | Dense reconstruction fast camera motion tracking depth-only loop closure voxel revisit surface patches |
| url | https://www.tandfonline.com/doi/10.1080/10095020.2025.2505549 |
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