Coloured signed distance fields for full 3D object reconstruction

Wadim Kehl, Nassir Navab and Slobodan Ilic

In Proceedings British Machine Vision Conference 2014


We propose a novel 3D object reconstruction framework that is able to fully capture the accurate coloured geometry of an object using an RGB-D sensor. Building on visual odometry for camera trajectory estimation, we perform pose graph optimisation on collected keyframes and reconstruct the scan variationally via coloured signed distance fields. To capture the full geometry, we conduct multiple scans while changing the object's pose. After collecting all coloured fields, we perform an automated dense registration over all collected scans to create one coherent model. We show on eight reconstructed real-life objects that the proposed pipeline outperforms the state-of-the-art KinectFusion in visual quality as well as geometrical fidelity.


Poster Session


Extended Abstract (PDF, 1 page, 1.5M)
Paper (PDF, 11 pages, 4.3M)
Bibtex File


Wadim Kehl, Nassir Navab, and Slobodan Ilic. Coloured signed distance fields for full 3D object reconstruction. Proceedings of the British Machine Vision Conference. BMVA Press, September 2014.


	title = {Coloured signed distance fields for full 3D object reconstruction},
	author = {Kehl, Wadim and Navab, Nassir and Ilic, Slobodan},
	year = {2014},
	booktitle = {Proceedings of the British Machine Vision Conference},
	publisher = {BMVA Press},
	editors = {Valstar, Michel and French, Andrew and Pridmore, Tony}
	doi = { }