Online Manhattan Keyframe-based Dense Reconstruction from Indoor Depth Sequences

Abstract

We present an online framework for dense 3D reconstruction of indoor scenes using sequential Manhattan keyframes. We take advantage of the global geometry of indoor scenes extracted by Manhattan frames and pose optimization to enhance the accuracy and robustness of the reconstructed models. During sequential reconstruction, a Manhattan frame is extracted for each keyframe after surface normal adjustment, and used for a Manhattan keyframe-based planar alignment to initialize the surface registration while a pose graph optimization is used to refine camera poses. The final model is created by integrating the Manhattan keyframes into the unified volumetric model using refined pose estimations. Experimental results demonstrate the advantage of our geometry-based approach to reduce the cumulative registration error and overall geometric drift.