truncated signed distance functions 在计算机图形学中,截断的带符号距离函数(Truncated Signed Distance Function,TSDF)是一种用于三维重建和表面重建的技术。TSDF通过将每个像素的最近点与表面之间的距离作为该像素的颜色,可以生成高质量的表面重建结果。 TSDF的基本思想是将每个像素周围的区域划分为三个部分:内部、外部...
Truncated Signed Distance Function(TSDF)是一种用于表示三维空间中物体表面的数据结构。它将空间划分为一个规则的体素网格,并为每个体素存储一个有符号距离值。这个距离值表示该体素中心到物体表面的距离。TSDF将距离值截断在一定范围内(通常是[-1, 1]),以减少存储和计算的开销。 TSDF在计算机图形学或相关领域中的...
However, the currently widely used Truncated Signed Distance Field (TSDF) still suffers from the problem of inefficient memory management, making it difficult to directly use it for large-scale 3D reconstruction. In order to address this problem, this paper proposes a highly efficient an...
2、根据相机的内参矩阵,转换到图像坐标系,得到体素所在的图像坐标(u,v); 3、如果第i帧深度图像(u,v)处的深度值D(u,v)不为零,则比较D(u,v)与体素相机坐标V(x,y,z)中z的大小。如果D>z,说明体素距离相机近。反之同理。 4、根据3中的结果更新体素中距离值D和权重W 其中 为当前帧立方体中该体素的权重...
Signed: Voxels outside the surface have positive distances, while voxels inside the surface have negative distances. This allows the representation of solid objects. The distance field represents a gradient that shifts from positive to negative as it crosses the surface. ...
Voxblox is a volumetric mapping library based mainly on Truncated Signed Distance Fields (TSDFs). It varies from other SDF libraries in the following ways: CPU-only, can be run single-threaded or multi-threaded for some integrators Support for multiple different layer types (containing different ...
RGBTSDF: An Efficient and Simple Method for Color Truncated Signed Distance Field (TSDF) Volume Fusion Based on RGB-D Images RGB-D image mapping is an important tool in applications such as robotics, 3D reconstruction, autonomous navigation, and augmented reality (AR). Efficient ... Y Li,S ...
The volumetric truncated signed distance function 原理 首先要构建重建的一个立方体,立方体的每个位置称为体素: image-20211231175403570.png 每个体素都有一个函数值: 和 权重系数;考虑一个任意一个体素在相机坐标系下: 如果i时刻相机的位姿为 ,相机的内参为 ...
Werner, D., Al-Hamadi, A., Werner, P.: Truncated Signed Distance Function: Ex- periments on Voxel Size. In: Image Analysis and Recognition, Lecture Notes in Computer Science, vol. 8815, pp. 357-364. Springer (2014)Truncated signed distance function:experiments on voxel size. WERNER D,...
To address these problems, we propose a novel 3D reconstruction, texturing and semantic mapping system using LiDAR and camera sensors. An Adaptive Truncated Signed Distance Function is introduced to describe surfaces implicitly, which can deal with different LiDAR point sparsities and improve model qual...