DynamicFusion: Reconstruction and Tracking of Non-rigid scenes in real-time
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1)
3.1
2)
公式(2)中
3)
3.2算体素的psdf
对于每个体素中心
然后将该点
第一部分为相机到surface, 第二部分为相机到体素中心的距离, 两者相减则为体素中心到surface的距离
4)
3.3算
5)
3.3.1 用non-rigid ICP构造data term
注意ICP第一步是找匹配, 跟kinnect fusion不同(kinnect fusion找前后两帧Image view的匹配点, 然后算出世界坐标让他们一致), 它先根据TSDF提取出一个zero level set:
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