Real-Time Surface of Revolution Reconstruction on Dense SLAM

Abstract

We present a fast and accurate method for reconstructing surfaces of revolution (SoR) on 3D data and its application to structural modeling of a cluttered scene in real-time. To estimate a SoR axis, we derive an approximately linear cost function for fast convergence. Also, we design a framework for reconstructing SoR on dense SLAM. In the experiment… (More)
DOI: 10.1109/3DV.2016.13

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