Portable 3-D modeling using visual pose tracking

This work deals with the passive tracking of the pose of a close-range 3-D modeling device using its own high-rate images in realtime, concurrently with customary 3-D modeling of the scene. This novel development makes it possible to abandon using inconvenient, expensive external trackers, achieving a portable and inexpensive solution. The approach comprises efficient tracking of natural features following the Active Matching paradigm, a frugal use of interleaved feature-based stereo triangulation, visual odometry using the robustified V-GPS algorithm, graph optimization by local bundle adjustment, appearance-based relocalization using a bank of parallel three-point-perspective pose solvers on SURF features, and online reconstruction of the scene in the form of textured triangle meshes to provide visual feedback to the user. Ideally, objects are completely digitized by browsing around the scene; in the event of closing the motion loop, a hybrid graph optimization takes place, which delivers highly accurate motion history to refine the whole 3-D model within a second. The method has been implemented on the DLR 3D-Modeler; demonstrations and abundant video material validate the approach. These types of low-cost systems have the potential to enhance traditional 3-D modeling and conquer new markets owing to their mobility, passivity, and accuracy.