CHISEL: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device using Spatially-Hashed SDF
文章目錄 系統流程 預處理 深度圖融合 基於動態Hash的體素存儲 位姿估計 系統流程 預處理 深度測量值爲深度真值加上高斯誤差。由於設備的深度傳感器可靠程度較差，每個深度測量值代表一個圓錐體，而不是一個射線。 深度圖融合 對於每個深度測量值，根據深度確定方差和融合權重。將射線上深度比測量值小得多的體素恢復爲初始設置。 基於動態Hash的體素存儲 採用「Real-time 3d reconstru
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