We present Mono-STAR, the first real-time 3D reconstruction system that simultaneously supports semantic fusion, fast motion tracking, non-rigid object deformation, and topological change under a unified framework. The proposed system solves a new optimization problem incorporating optical-flow-based 2D constraints to deal with fast motion and a novel semantic-aware deformation graph (SAD-graph) for handling topology change. We test the proposed system under various challenging scenes and demonstrate that it significantly outperforms existing state-of-the-art methods.
翻译：我们提出了第一个实时3D重建系统“单-STAR ” ( Mono-STAR ), 这是第一个实时的3D重建系统,在统一的框架内同时支持语义融合、快速运动跟踪、非硬性物体变形和地形变化。 拟议的系统解决了一个新的优化问题,它包括光-光-流2D限制,以应对快速运动,以及用于处理地形变化的新型语义-觉变形图(SAD-graph ) 。 我们在各种具有挑战性的场景下测试了拟议的系统,并证明它大大优于现有最先进的方法。
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