3D Surface Reconstruction from Voxel-based Lidar Data

Abstract : To achieve fully autonomous navigation, vehicles need to compute an accurate model of their direct surrounding. In this paper, a 3D surface reconstruction algorithm from heterogeneous density 3D data is presented. The proposed method is based on a TSDF voxel-based representation, where an adaptive neighborhood kernel sourced on a Gaussian confidence evaluation is introduced. This enables to keep a good trade-off between the density of the reconstructed mesh and its accuracy. Experimental evaluations carried on both synthetic (CARLA) and real (KITTI) 3D data show a good performance compared to a state of the art method used for surface reconstruction.
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https://hal.inria.fr/hal-02165672
Contributor : Luis Guillermo Roldao Jimenez <>
Submitted on : Wednesday, June 26, 2019 - 10:01:32 AM
Last modification on : Thursday, July 4, 2019 - 5:28:32 PM

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  • HAL Id : hal-02165672, version 1
  • ARXIV : 1906.10515

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Luis Roldão, Raoul de Charette, Anne Verroust-Blondet. 3D Surface Reconstruction from Voxel-based Lidar Data. ITSC 2019 - IEEE Intelligent Transportation Systems Conference, Oct 2019, Auckland, New Zealand. ⟨hal-02165672⟩

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