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A real-time 3D scene reconstruction system with surface optimization is proposed. The dense 3D point cloud model is created by utilizing rotation and orientation invariant feature matching along with loop-closure detection algorithm on RGB-D images in a mobile robot. The high resolution and smooth mesh model is implemented on a GPU based computer through wireless communication.
Vijayan K. Asari
Primary Advisor's Department
Electrical and Computer Engineering
Stander Symposium project
"Real-time 3D Scene Reconstruction with Surface Optimization" (2019). Stander Symposium Projects. 1703.