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Kinect Fusion 3D: GPU-Accelerated Volumetric Reconstruction
Kinect Fusion 3D: GPU-Accelerated Volumetric Reconstruction
Kinect Fusion 3D: GPU-Accelerated Volumetric Reconstruction
Blending Real-Time Capture with Seamless Surface Reconstruction
Blending Real-Time Capture with Seamless Surface Reconstruction
Blending Real-Time Capture with Seamless Surface Reconstruction
Description
Description
A real-time pipeline that fuses consecutive depth frames into a global TSDF volume, achieving robust camera pose estimation and high-fidelity surface reconstruction on the GPU.
通过将连续深度图整合到TSDF体素中并采用GPU加速的点对平面ICP算法，实现实时的相机位姿跟踪和高保真度的三维重建。
A real-time pipeline that fuses consecutive depth frames into a global TSDF volume, achieving robust camera pose estimation and high-fidelity surface reconstruction on the GPU.
通过将连续深度图整合到TSDF体素中并采用GPU加速的点对平面ICP算法，实现实时的相机位姿跟踪和高保真度的三维重建。
Keywords
Keywords
3D Reconstruction
3D Reconstruction
GPU Acceleration
GPU Acceleration
Spatial Computing
Spatial Computing
Computer Vision
Year
Year
2020
2020
Technical Details
Technical Details
This project implements the core Kinect Fusion algorithm on modern GPUs, enabling real-time 3D reconstruction of indoor environments. By integrating sequential depth images into a Truncated Signed Distance Field (TSDF) volume, the system incrementally refines a global surface model. A robust point-to-plane ICP approach is used for camera tracking, ensuring consistent pose estimation and producing coherent volumetric reconstructions. The pipeline supports color integration for photorealistic rendering, making it well-suited for mixed reality applications and industrial design prototyping that demand accurate spatial representations.
本项目在现代GPU架构上实现了Kinect Fusion的核心功能，可实时重建室内场景的三维模型。系统将连续的深度图像整合到截断符号距离场（TSDF）体素中，逐帧优化全局表面模型。通过稳健的点对平面ICP算法，能够准确跟踪相机位姿并生成一致的体素重建结果。该流程还支持整合彩色信息，实现逼真的纹理渲染，特别适用于混合现实应用与工业设计中的精准空间建模需求。
This project implements the core Kinect Fusion algorithm on modern GPUs, enabling real-time 3D reconstruction of indoor environments. By integrating sequential depth images into a Truncated Signed Distance Field (TSDF) volume, the system incrementally refines a global surface model. A robust point-to-plane ICP approach is used for camera tracking, ensuring consistent pose estimation and producing coherent volumetric reconstructions. The pipeline supports color integration for photorealistic rendering, making it well-suited for mixed reality applications and industrial design prototyping that demand accurate spatial representations.
本项目在现代GPU架构上实现了Kinect Fusion的核心功能，可实时重建室内场景的三维模型。系统将连续的深度图像整合到截断符号距离场（TSDF）体素中，逐帧优化全局表面模型。通过稳健的点对平面ICP算法，能够准确跟踪相机位姿并生成一致的体素重建结果。该流程还支持整合彩色信息，实现逼真的纹理渲染，特别适用于混合现实应用与工业设计中的精准空间建模需求。
Highlights
Highlights
Real-Time Performance: GPU-accelerated processing consistently achieves frame rates over 30 FPS.
High-Fidelity Surface Integration: TSDF-based fusion ensures detailed and accurate 3D models.
Enhanced Visual Quality: Color data integration leads to lifelike texture mapping.
Broad Applicability: Ideal for rapid industrial design iteration and spatial computing solutions.
实时性能：得益于GPU加速，可实现30帧/秒以上的快速处理。
高精度表面融合：基于TSDF体素的融合算法保证了三维模型的细节与准确度。
逼真纹理呈现：支持彩色数据整合，实现接近真实的视觉效果。
多元化应用场景：为工业设计原型迭代与空间计算交互提供可靠的技术支撑。
Real-Time Performance: GPU-accelerated processing consistently achieves frame rates over 30 FPS.
High-Fidelity Surface Integration: TSDF-based fusion ensures detailed and accurate 3D models.
Enhanced Visual Quality: Color data integration leads to lifelike texture mapping.
Broad Applicability: Ideal for rapid industrial design iteration and spatial computing solutions.
实时性能：得益于GPU加速，可实现30帧/秒以上的快速处理。
高精度表面融合：基于TSDF体素的融合算法保证了三维模型的细节与准确度。
逼真纹理呈现：支持彩色数据整合，实现接近真实的视觉效果。
多元化应用场景：为工业设计原型迭代与空间计算交互提供可靠的技术支撑。
Credits
Appendix
Credits
Appendix
