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Open fusion enables the user to build a3d model of a real world scene in real-time using the ASUS ATN pro live depth camera our system is an implementation of Microsoft#39’s Kine ct fusion algorithm the system receives a constant stream of depth images from the camera as can beseem in the bottom left corner of the screen the depth images show the distance of each pixel from the camera objects that are further away or lighter objects that are closer are darker the depth images are used to track the camera position in relation to the scene and update the model accordingly many viewpoints are necessary in order to fill in gaps and smooth away noisy signals as the user moves around the scene new views of the scanned objects are discovered and integrated resulting in a complete high quality model as can be seen in the top left corner of the screen, although open fusion builds a static model a certain amount of dynamic interaction with the scene as possible over the time the system will fix the model using the new data received notice how the leg in the chair are rebuilt according to the changing scene an accurate reconstruction of the new scene has been created and can beexploredopen fusion can model scenes within Andrea of two cubic meters the model maintained by the system is stored in voxel grid as a signed distance functioning which the zero crossing defines the model surface the volumetric model is ray cast both for rendering and for comparison with the next depth image received to find the next camerapositioncamera tracking meaning the ability to find the correct camera position at each moment in time is the core of the algorithm this position is computed using the ICP algorithm corresponding points in the depth image and the Lancaster model are calculated in order to estimate the camera transformation notice that the depth image is compared to the model and not to the previous depth image giving a more exact base forth comparison all stages of the open fusion algorithm are implemented in Command now run in parallel on the GPU allowing real-time tracking and reconstruction
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