Dense 3D reconstruction combining depth and RGB information

Dense 3D reconstruction has important applications in many fields. The existing depth information based methods are typically constrained in their effective camera-object distance which should be from 0.4 m to 4 m. We present a novel method that can achieve a more accurate dense 3D reconstruction with an RGB-D camera when the distance between the camera and object is less than 0.4 m, which enlarges the application range. Our approach combines a depth information based 3D model method with a RGB information based method to refine the reconstruction results when the camera fails to acquire the correct depth information. Rich RGB information captured from a color camera along with feature detection and triangulation methods are used to obtain accurate camera poses and 3D points when the camera is close to the object. Compared with the reconstruction results obtained from depth information only, quantitative experimental results show that our method is more effective, particularly when the camera is close to the object in the scene.