Project Proposal

”Re-implementation of Kinect Fusion”

1 Abstract
In our project we want to re-implement Kinect Fusion [1] on the CPU.
Given the captured images of an RGB-D camera, we integrate the depth images into
a truncated signed distance function (TSDF). To this end, we implement a frame-to-
model iterative closest point algorithm (ICP) that is based on projective correspondences.
The required rendering of the reconstructed model is performed using a ray marching
approach. Using the estimated 6 degrees of freedom (DOF) of the camera motion (trans-
lation and rotation), we update the TSDF voxel volume. To finally export the TSDF
to a triangular mesh, we perform the marching cubes algorithm. An overview of the
method is shown in Fig. 1.

Figure 1: Method overview: Based on the input of an RGB-D sensor, we reconstruct

a position and normal map (a). Using this input data we perform a frame-
to-model camera tracking (b) to update the model that is stored as a signed
distance function in a voxel grid (c).

2 Requirements
For our project we need:

• RGB-D senor (Kinect or alike)

1
3 Team
Our project team consits of:

• me

• myself

• and I

References
[1] Shahram Izadi, David Kim, Otmar Hilliges, David Molyneaux, Richard Newcombe, Push-
meet Kohli, Jamie Shotton, Steve Hodges, Dustin Freeman, Andrew Davison, and Andrew
Fitzgibbon. Kinectfusion: Real-time 3d reconstruction and interaction using a moving depth
camera. In Proceedings of the 24th Annual ACM Symposium on User Interface Software and
Technology, UIST ’11, pages 559–568, New York, NY, USA, 2011. ACM.