The creation of a textured 3D mesh from a set of RGD-D images often results in textured meshes that yield unappealing visual artifacts. The main cause is the misalignments between the RGB-D images due to inaccurate camera pose estimations. While there are many works that focus on improving those estimates, the fact is that this is a cumbersome problem, in particular due to the accumulation of pose estimation errors. In this work, we conjecture that camera poses estimation methodologies will always display non-neglectable errors. Hence, the need for more robust texture mapping methodologies, capable of producing quality textures even in considerable camera misalignments scenarios. To this end, we argue that use of the depth data from RGB-D images can be an invaluable help to confer such robustness to the texture mapping process. Results show that the complete texture mapping procedure proposed in this paper is able to significantly improve the quality of the produced textured 3D meshes.

中文翻译：

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使用RGB-D相机进行繁琐的纹理贴图

由一组RGD-D图像创建带纹理的3D网格通常会导致带纹理的网格，从而产生不吸引人的视觉伪像。主要原因是由于不正确的相机姿势估计而导致的RGB-D图像之间的未对准。尽管有许多工作着重于改进这些估计，但事实是，这是一个麻烦的问题，特别是由于姿势估计误差的累积。在这项工作中，我们推测相机姿势估计方法将始终显示不可忽略的错误。因此，需要更鲁棒的纹理映射方法，即使在相机未对准的情况下也能够产生高质量的纹理。为此，我们认为使用RGB-D图像的深度数据可以为将此类鲁棒性赋予纹理映射过程提供宝贵的帮助。