Carnegie Mellon University
The
Chisel: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device

Matthew Klingensmith, Ivan Dryanovski, Siddhartha Srinivasa, and Jizhong Xiao
Robotics Science and Systems 2015, July, 2015.


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Abstract
We describe Chisel : a system for real-time house-scale (300 square meter or more) dense 3D reconstruction onboard a Google Tango mobile device by using a dynamic spatially-hashed truncated signed distance field for mapping, and visual-inertial odometry for localization. By aggressively culling parts of the scene that do not contain surfaces, we avoid needless computation and wasted memory. Even under very noisy conditions, we produce high-quality reconstructions through the use of space carving. We are able to reconstruct and render very large scenes at a resolution of 2-3 cm in real time on a mobile device without the use of GPU computing. The user is able to view and interact with the reconstruction in real-time through an intuitive interface. We provide both qualitative and quantitative results on publicly available RGB-D datasets, and on datasets collected in real-time from two devices.

Keywords
3d reconstruction, mobile, vision, SLAM, system, volumetric, spatial hashing

Notes
Associated Center(s) / Consortia: Quality of Life Technology Center, National Robotics Engineering Center, and Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Personal Robotics

Text Reference
Matthew Klingensmith, Ivan Dryanovski, Siddhartha Srinivasa, and Jizhong Xiao, "Chisel: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device," Robotics Science and Systems 2015, July, 2015.

BibTeX Reference
@inproceedings{Klingensmith_2015_7924,
   author = "Matthew Klingensmith and Ivan Dryanovski and Siddhartha Srinivasa and Jizhong Xiao",
   title = "Chisel: Real Time Large Scale 3D Reconstruction Onboard a Mobile Device",
   booktitle = "Robotics Science and Systems 2015",
   month = "July",
   year = "2015",
}