Real-time 3D scene reconstruction with dynamically moving object using a single depth camera

Online 3D reconstruction of real-world scenes has been attracting increasing interests from both the academia and industry, especially with the consumer-level depth cameras becoming widely available. Recent most online reconstruction systems take live depth data from a moving Kinect camera and incrementally fuse them to a single high-quality 3D model in real time. Although most real-world scenes have static environment, the daily objects in a scene often move dynamically, which are non-trivial to reconstruct especially when the camera is also not still. To solve this problem, we propose a single depth camera-based real-time approach for simultaneous reconstruction of dynamic object and static environment, and provide solutions for its key issues. In particular, we first introduce a robust optimization scheme which takes advantage of raycasted maps to segment moving object and background from the live depth map. The corresponding depth data are then fused to the volumes, respectively. These volumes are raycasted to extract views of the implicit surface which can be used as a consistent reference frame for the next iteration of segmentation and tracking. Particularly, in order to handle fast motion of dynamic object and handheld camera in the fusion stage, we propose a sequential 6D pose prediction method which largely increases the registration robustness and avoids registration failures occurred in conventional methods. Experimental results show that our approach can reconstruct moving object as well as static environment with rich details, and outperform conventional methods in multiple aspects.