KinectFusion

TLDR

KinectFusion allows a handheld Kinect camera to quickly generate detailed 3D reconstructions of indoor scenes. The paper describes the capabilities of KinectFusion and its novel GPU-based pipeline. It uses only Kinect depth data to track sensor pose and reconstruct geometrically precise 3D models of the scene in real time via a GPU pipeline. The core system enables low-cost handheld scanning, geometry‑aware AR, physics‑based interactions, and real‑time multi‑touch on any reconstructed surface, while extensions add object segmentation and user interaction without compromising tracking or reconstruction.

Abstract

KinectFusion enables a user holding and moving a standard Kinect camera to rapidly create detailed 3D reconstructions of an indoor scene. Only the depth data from Kinect is used to track the 3D pose of the sensor and reconstruct, geometrically precise, 3D models of the physical scene in real-time. The capabilities of KinectFusion, as well as the novel GPU-based pipeline are described in full. Uses of the core system for low-cost handheld scanning, and geometry-aware augmented reality and physics-based interactions are shown. Novel extensions to the core GPU pipeline demonstrate object segmentation and user interaction directly in front of the sensor, without degrading camera tracking or reconstruction. These extensions are used to enable real-time multi-touch interactions anywhere, allowing any planar or non-planar reconstructed physical surface to be appropriated for touch.