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arXiv · 1604.02885

Semantic 3D Reconstruction with Continuous Regularization and Ray Potentials Using a Visibility Consistency Constraint

Nikolay Savinov·Christian Haene·Lubor Ladicky·Marc Pollefeys
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Abstract

We propose an approach for dense semantic 3D reconstruction which uses a data term that is defined as potentials over viewing rays, combined with continuous surface area penalization. Our formulation is a convex relaxation which we augment with a crucial non-convex constraint that ensures exact handling of visibility. To tackle the non-convex minimization problem, we propose a majorize-minimize type strategy which converges to a critical point. We demonstrate the benefits of using the non-convex constraint experimentally. For the geometry-only case, we set a new state of the art on two datasets of the commonly used Middlebury multi-view stereo benchmark. Moreover, our general-purpose formulation directly reconstructs thin objects, which are usually treated with specialized algorithms. A qualitative evaluation on the dense semantic 3D reconstruction task shows that we improve significantly over previous methods.

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Nikolay Savinov, Christian Haene, Lubor Ladicky, Marc Pollefeys. 2016-04-11. Semantic 3D Reconstruction with Continuous Regularization and Ray Potentials Using a Visibility Consistency Constraint. https://arxiv.org/abs/1604.02885

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