SplitFusion: Simultaneous Tracking and Mapping for Non-Rigid Scenes

Yang Li; Tianwei Zhang; Yoshihiko Nakamura; Tatsuya Harada

IROS 2020poster18 citations

SplitFusion: Simultaneous Tracking and Mapping for Non-Rigid Scenes

Yang Li, Tianwei Zhang, Yoshihiko Nakamura, Tatsuya Harada

Abstract

We present SplitFusion, a novel dense RGB-D SLAM framework that simultaneously performs tracking and dense reconstruction for both rigid and non-rigid components of the scene. SplitFusion first adopts deep learning based semantic instant segmentation technique to split the scene into rigid or non-rigid surfaces. The split surfaces are independently tracked via rigid or non-rigid ICP and reconstructed through incremental depth map fusion. Experimental results show that the proposed approach can provide not only accurate environment maps but also well-reconstructed non-rigid targets, e.g., the moving humans.

BibTeX

@inproceedings{iros2020_splitfusionsimul,
  title = {SplitFusion: Simultaneous Tracking and Mapping for Non-Rigid Scenes},
  author = {Yang Li and Tianwei Zhang and Yoshihiko Nakamura and Tatsuya Harada},
  booktitle = {IROS 2020},
  year = {2020}
}