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Multi-Sensor Depth Fusion Framework for Real-Time 3D Reconstruction

Ali, Muhammad Kashif and Rajput, Asif and Shahzad, Muhammad and Khan, Farhan and Akthar, Faheem and Börner, Anko (2019) Multi-Sensor Depth Fusion Framework for Real-Time 3D Reconstruction. IEEE Access, 7, pp. 136471-136480. IEEE - Institute of Electrical and Electronics Engineers. ISSN 2169-3536

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Official URL: https://ieeexplore.ieee.org/document/8844674

Abstract

For autonomous robots, 3D perception of environment is an essential tool, which can be used to achieve better navigation in an obstacle rich environment. This understanding requires a huge amount of computational resources; therefore, the real-time 3D reconstruction of surrounding environment has become a topic of interest for countless researchers in the recent past. Generally, for the outdoor 3D models, stereo cameras and laser depth measuring sensors are employed. The data collected through the laser ranging sensors is relatively accurate but sparse in nature. In this paper, we propose a novel mechanism for the incremental fusion of this sparse data to the dense but limited ranged data provided by the stereo cameras, to produce accurate dense depth maps in real-time over a resource limited mobile computing device. Evaluation of the proposed method shows that it outperforms the state-of-the-art reconstruction frameworks which only utilizes depth information from a single source.

Item URL in elib:https://elib.dlr.de/129472/
Document Type:Article
Title:Multi-Sensor Depth Fusion Framework for Real-Time 3D Reconstruction
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ali, Muhammad KashifNational University of Sciences and Technology (NUST), Islamabad, PakistanUNSPECIFIED
Rajput, AsifNational University of Sciences and Technology (NUST), Islamabad, PakistanUNSPECIFIED
Shahzad, MuhammadNational University of Sciences and Technology (NUST), Islamabad, PakistanUNSPECIFIED
Khan, FarhanNational University of Sciences and Technology (NUST), Islamabad, PakistanUNSPECIFIED
Akthar, FaheemCollege of Software Engineering, Beijing University of Technology, Beijing, ChinaUNSPECIFIED
Börner, AnkoDLR, Institut für Optische SensorsystemeUNSPECIFIED
Date:2019
Journal or Publication Title:IEEE Access
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:7
Page Range:pp. 136471-136480
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2169-3536
Status:Published
Keywords:sensor fusion, laser scanner, stereo camera, computer vision
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Road Transport
DLR - Research area:Transport
DLR - Program:V ST Straßenverkehr
DLR - Research theme (Project):V - NGC KoFiF
Location: Berlin-Adlershof
Institutes and Institutions:Institute of Optical Sensor Systems > Real-Time Data Processing
Deposited By: Börner, Anko
Deposited On:17 Oct 2019 10:21
Last Modified:17 Oct 2019 10:21

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