This work proposes a new method for real-time dense 3d reconstruction for common 360{\deg} action cams, which can be mounted on small scouting UAVs during USAR missions. The proposed method extends a feature based Visual monocular SLAM (OpenVSLAM, based on the popular ORB-SLAM) for robust long-term localization on equirectangular video input by adding an additional densification thread that computes dense correspondences for any given keyframe with respect to a local keyframe-neighboorhood using a PatchMatch-Stereo-approach. While PatchMatch-Stereo-types of algorithms are considered state of the art for large scale Mutli-View-Stereo they had not been adapted so far for real-time dense 3d reconstruction tasks. This work describes a new massively parallel variant of the PatchMatch-Stereo-algorithm that differs from current approaches in two ways: First it supports the equirectangular camera model while other solutions are limited to the pinhole camera model. Second it is optimized for low latency while keeping a high level of completeness and accuracy. To achieve this it operates only on small sequences of keyframes, but employs techniques to compensate for the potential loss of accuracy due to the limited number of frames. Results demonstrate that dense 3d reconstruction is possible on a consumer grade laptop with a recent mobile GPU and that it is possible with improved accuracy and completeness over common offline-MVS solutions with comparable quality settings.
翻译:这项工作提出了一个新的方法, 用于实时密集三维重建 共360 {deg} 行动摄像头, 可以安装在USAR 任务期间小型侦察无人机上。 提议的方法将基于功能的 OpenVSLAM (OpenVSLAM, 以流行的 ORCB- SLAM 为基础) 扩展为基于功能的SLAM (OpenVSLAM ), 以在平方形视频输入上稳健的长期本地化。 增加一个额外的密度线, 在使用 PatchMatch- Stereo- approach 的本地键盘- 邻接线设置方面, 计算任何特定密钥框架的密钥线的密密密通信。 虽然 PatchMatch- Stereo- aproach 使用PatchMatch- Stereopleo- slogach 的本地化相机模型, 而其他的解决方案则仅限于针孔相机模型的精度模型。 第二, 它们没有为实时密集度的精度, 最终的精度的精确度, 只能对精度进行精度的精度的精度的精度进行精确度的精确度的精确度, 。 。