Dense 3D Reconstruction with a Hand-held Camera

Abstract: In this paper we present a method for dense 3D reconstruction from videos where object silhouettes are hard to retrieve. We introduce a close coupling between sparse bundle adjustment and dense multi-view reconstruction, which includes surface constraints by the sparse point cloud and an implicit loop closing via the dense surface. The surface is computed in a volumetric framework and guarantees a dense surface without holes. We demonstrate the flexibility of the approach on indoor and outdoor scenes recorded with a commodity hand-held camera.