REMODE: Probabilistic, Monocular Dense Reconstruction in Real Time

In this paper, we solve the problem of estimating dense and accurate depth maps from a single moving camera. A probabilistic depth measurement is carried out in real time on a per-pixel basis and the computed uncertainty is used to reject erroneous estimations and provide live feedback on the reconstruction progress. Our contribution is a novel approach to depth map computation that combines Bayesian estimation and recent development on convex optimization for image processing. We demonstrate that our method outperforms state-of-the-art techniques in terms of accuracy, while exhibiting high efficiency in memory usage and computing power. We call our approach REMODE (REgularized MOnocular Depth Estimation) and the CUDA-based implementation runs at 30Hz on a laptop computer.


Presented at:
2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, May 31 - June 7, 2014
Year:
2014
Laboratories:




 Record created 2014-06-16, last modified 2018-06-27

n/a:
Download fulltext
PDF

Rate this document:

Rate this document:
1
2
3
 
(Not yet reviewed)