Representation, Tracking, and Signed Distance Function …Implicit Surface Representation - Geometry...
Transcript of Representation, Tracking, and Signed Distance Function …Implicit Surface Representation - Geometry...
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Signed Distance Function Representation, Tracking, and
MappingTanner Schmidt
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Overview
- Explicit and implicit surface representations- SDF fusion- SDF tracking- Related research
- KinectFusion- Patch Volumes- DART- DynamicFusion
![Page 3: Representation, Tracking, and Signed Distance Function …Implicit Surface Representation - Geometry is not stored explicitly but rather defined as a level set of a function defined](https://reader034.fdocuments.in/reader034/viewer/2022043022/5f3de4453893c077b94679ee/html5/thumbnails/3.jpg)
Overview
- Explicit and implicit surface representations- SDF fusion- SDF tracking- Related research
- KinectFusion- Patch Volumes- DART- DynamicFusion
![Page 4: Representation, Tracking, and Signed Distance Function …Implicit Surface Representation - Geometry is not stored explicitly but rather defined as a level set of a function defined](https://reader034.fdocuments.in/reader034/viewer/2022043022/5f3de4453893c077b94679ee/html5/thumbnails/4.jpg)
Explicit Surface Representations
- Geometry is stored explicitly as a list of points, triangles, or other geometric fragments- e.g. meshes, point clouds
Vertices: [ (x0, y0, z0), (x1, y1, z1), …, (xn, yn, zn) ]
Indices: [ (i0, i1), (i2, i3), …, (in-1, in) ]
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- Geometry is not stored explicitly but rather defined as a level set of a function defined over the space in which the geometry is embedded
- There are parametric representations:
Implicit Surface Representation
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- Geometry is not stored explicitly but rather defined as a level set of a function defined over the space in which the geometry is embedded
- And there are nonparametric representations:
Implicit Surface Representation
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- Geometry is not stored explicitly but rather defined as a level set of a function defined over the space in which the geometry is embedded
- And there are nonparametric representations:
Implicit Surface Representation
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Implicit to Explicit Conversion
- In two dimensions, we can use an algorithm called marching squares
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Implicit to Explicit Conversion in 3D
- Typically done using marching cubes, a 3D analogue to marching squares
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Implicit to Explicit Conversion in 3D
- Can also be done by raycasting for a view-dependent partial surface
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- Can be done by finding the closest point between each discrete location and any part of the geometry
Explicit to Implicit Conversion
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- Can also be done with a distance transform
Explicit to Implicit Conversion
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Overview
- Explicit and implicit surface representations- SDF fusion- SDF tracking- Related research
- KinectFusion- PatchVolumes- DART- DynamicFusion
![Page 14: Representation, Tracking, and Signed Distance Function …Implicit Surface Representation - Geometry is not stored explicitly but rather defined as a level set of a function defined](https://reader034.fdocuments.in/reader034/viewer/2022043022/5f3de4453893c077b94679ee/html5/thumbnails/14.jpg)
Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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Signed Distance Function Fusion
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- This addition requires the per-frame projected truncated signed distance volumes to be globally registered
Signed Distance Function Fusion
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Overview
- Explicit and implicit surface representations- SDF fusion- SDF tracking- Related research
- KinectFusion- PatchVolumes- DART- DynamicFusion
![Page 49: Representation, Tracking, and Signed Distance Function …Implicit Surface Representation - Geometry is not stored explicitly but rather defined as a level set of a function defined](https://reader034.fdocuments.in/reader034/viewer/2022043022/5f3de4453893c077b94679ee/html5/thumbnails/49.jpg)
Signed Distance Function Tracking
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Signed Distance Function Tracking
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Signed Distance Function Tracking
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Signed Distance Function Tracking
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Signed Distance Function Tracking
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Signed Distance Function Tracking
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Signed Distance Function Tracking
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Signed Distance Function Tracking
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Point-plane Iterative Closest Point (ICP)
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Point-plane Iterative Closest Point (ICP)
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Point-plane Iterative Closest Point (ICP)
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Point-plane Iterative Closest Point (ICP)
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Point-plane Iterative Closest Point (ICP)
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Point-plane Iterative Closest Point (ICP)
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Point-plane Iterative Closest Point (ICP)
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Point-plane Iterative Closest Point (ICP)
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Direct Signed Distance Function Tracking
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Direct Signed Distance Function Tracking
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Direct Signed Distance Function Tracking
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Online fusion
- Tracking requires the fused SDF volume for all frames up to the current frame
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Online fusion
- Tracking requires the fused SDF volume for all frames up to the current frame- We must maintain a running average SDF value at each cell
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Online fusion
- Tracking requires the fused SDF volume for all frames up to the current frame- We must maintain a running average SDF value at each cell- Each cell stores both an SDF value and a weight
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Truncated Signed Distance Function
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Overview
- Explicit and implicit surface representations- SDF fusion- SDF tracking- Related research
- KinectFusion- PatchVolumes- DART- DynamicFusion
![Page 74: Representation, Tracking, and Signed Distance Function …Implicit Surface Representation - Geometry is not stored explicitly but rather defined as a level set of a function defined](https://reader034.fdocuments.in/reader034/viewer/2022043022/5f3de4453893c077b94679ee/html5/thumbnails/74.jpg)
Overview
- Explicit and implicit surface representations- SDF fusion- SDF tracking- Related research
- KinectFusion- PatchVolumes- DART- DynamicFusion
![Page 75: Representation, Tracking, and Signed Distance Function …Implicit Surface Representation - Geometry is not stored explicitly but rather defined as a level set of a function defined](https://reader034.fdocuments.in/reader034/viewer/2022043022/5f3de4453893c077b94679ee/html5/thumbnails/75.jpg)
Tracking Failure
Color-only Tracking Depth-only Tracking
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Loop Closure
Without Loop Closure With Loop Closure
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Overview
- Explicit and implicit surface representations- SDF fusion- SDF tracking- Related research
- KinectFusion- PatchVolumes- DART- DynamicFusion
![Page 82: Representation, Tracking, and Signed Distance Function …Implicit Surface Representation - Geometry is not stored explicitly but rather defined as a level set of a function defined](https://reader034.fdocuments.in/reader034/viewer/2022043022/5f3de4453893c077b94679ee/html5/thumbnails/82.jpg)
Overview
- Explicit and implicit surface representations- SDF fusion- SDF tracking- Related research
- KinectFusion- PatchVolumes- DART- DynamicFusion