论文标题
动态场景重建的拓扑变化 - 感知体积融合
Topology-Change-Aware Volumetric Fusion for Dynamic Scene Reconstruction
论文作者
论文摘要
对于动态场景的4D重建是一个具有挑战性的问题。在经典的基于体积融合的框架中，通常从TSDF体积作为规范表面表示网格，以帮助估计变形场。但是，由于表面网格具有固定连接性，但变形场可能是不连续的，因此表面和嵌入式变形图（EDG）表示会带来冲突。在本文中，经典的框架经过重新设计，以通过在拓扑变化下对动态场景进行4D重建，通过向TSDF和EDG的重新设计引入新的非模型体积网格的结构，从而可以通过细胞分开和复制来更新连接性。实验显示了与最新方法相比，拓扑变化动态场景的令人信服的重建结果。
Topology change is a challenging problem for 4D reconstruction of dynamic scenes. In the classic volumetric fusion-based framework, a mesh is usually extracted from the TSDF volume as the canonical surface representation to help estimating deformation field. However, the surface and Embedded Deformation Graph (EDG) representations bring conflicts under topology changes since the surface mesh has fixed-connectivity but the deformation field can be discontinuous. In this paper, the classic framework is re-designed to enable 4D reconstruction of dynamic scene under topology changes, by introducing a novel structure of Non-manifold Volumetric Grid to the re-design of both TSDF and EDG, which allows connectivity updates by cell splitting and replication. Experiments show convincing reconstruction results for dynamic scenes of topology changes, as compared to the state-of-the-art methods.
