High-quality reconstruction of 3D geometry and texture plays a vital role in providing immersive perception of the real world. Additionally, online computation enables the practical usage of 3D reconstruction for interaction. We present an RGBD-based globally-consistent dense 3D reconstruction approach, where high-quality (i.e., the spatial resolution of the RGB image) texture patches are mapped on high-resolution (≤1 cm\leq 1\ \text{cm}) geometric models online. The whole pipeline uses merely the CPU computing of a portable device. For real-time geometric reconstruction with online texturing, we propose to solve the texture optimization problem with a simplified incremental MRF solver in the context of geometric reconstruction pipeline using sparse voxel sampling strategy. An efficient reference-based color adjustment scheme is also proposed to achieve consistent texture patch colors under inconsistent luminance situations. Quantitative and qualitative experiments demonstrate that our online scheme achieves a realistic visualization of the environment with more abundant details, while taking fairly compact memory consumption and much lower computational complexity than existing solutions.

中文翻译：

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通过在线纹理进行实时全局一致的密集 3D 重建


3D 几何和纹理的高质量重建对于提供现实世界的沉浸式感知起着至关重要的作用。此外，在线计算使得 3D 重建能够实际用于交互。我们提出了一种基于 RGBD 的全局一致密集 3D 重建方法，其中高质量（即 RGB 图像的空间分辨率）纹理块映射到高分辨率（≤1 cm\leq 1\ \text{cm} ）在线几何模型。整个管道仅使用便携式设备的CPU计算。对于具有在线纹理的实时几何重建，我们建议在使用稀疏体素采样策略的几何重建管道的背景下，使用简化的增量MRF求解器来解决纹理优化问题。还提出了一种有效的基于参考的颜色调整方案，以在亮度不一致的情况下实现一致的纹理块颜色。定量和定性实验表明，我们的在线方案实现了环境的真实可视化，具有更丰富的细节，同时比现有解决方案占用相当紧凑的内存消耗和低得多的计算复杂度。