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...
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...
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...
图中的折线就是TSDF函数图像: 为一个设计余量: 权重系数定义: 参数更新: 小写表示是当前帧深度图的TSDF数值和权重,大写表示全局的TSDF数值和权重
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,...
TSDF Is a set of C++ classes implementing a Truncated Signed Distance Function as described in [1]. It uses GPU acceleration to deliver some kind of performance but is by no means optimised. You might think of it as an example of how to build one rather than a performance version. ...
The fusion block uses a hash map to store the surface properties of the reconstructed volume using Truncated Signed Distance Function or TSDF (Werner, 2014), while the meshing engine tesselates these voxels to represent them as triangles for consumption by game engines, using an algorithm like ma...
A TSDF is a probabilistic representation of a solid surface in 3D space. It is a useful tool for combining many noisy incomplete sensor readings into a single smooth and complete model. To break down the name: Distance Field: Each voxel in the volume contains a value that represents its met...
To achieve this, we first adopt the Truncated Signed Distance Function (TSDF) to encode the point cloud and extract low compact discriminative feature via unsupervised deep learning network. This approach can not only eliminate the dense scale sampling for offline model training but also reduce the...
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...