Introduction and previous work large-scale 3D dense reconstructions as shown in Figure 2. Keywords Dense reconstruction, regularization, mapping hardware and theory, allow us to build systems that create 1. We demonstrate our system in practice by reconstructing the inside of the EUROfusion Joint European Torus (JET) fusion reactor, located at the Culham Centre for Fusion Energy (UK Atomic Energy Authority) in Oxfordshire. We provide statistics for the metric errors in all surfaces created compared with those measured with 3D lidar as ground truth. These latter datasets see us operating at a combined scale and accuracy not seen in the literature. We evaluate our system using the Stanford Burghers of Calais, Imperial College ICL-NUIM, Oxford Broad Street (released with this paper), and the KITTI datasets. We take the unusual step to apply a learned correction mechanism that takes the global context of the reconstruc- tion and adjusts the constructed mesh, addressing errors that are pathological to the first-pass camera-derived reconstruction. Our pipeline does not end with regulari- zation. Our regularizer reduces the median error between 27% and 36% in 7.3 km of dense reconstructions with a median accuracy between 4 and 8 cm.

In addition, because of the paucity of surface observations by the camera and lidar sensors, we regularize over both two (camera depth maps) and three dimensions (voxel grid) to provide a local contextual prior for the reconstruction. We use a compressed 3D data structure, which allows us to operate over a large scale.

Our BOR G system fuses data from multiple sensor modalities (cameras, lidars, or both) and regularizes the resulting 3D model. We provide the theory and the system needed to create large-scale dense reconstructions for mobile-robotics applications: this stands in contrast to the object-centric reconstructions dominant in the literature.

Tanner, Michael Piniés, Pedro Paz, Lina María Săftescu, Ştefan Bewley, Alex Jonasson, Emil Newman, Paul Large-scale outdoor scene reconstruction and correction with vision Large-scale outdoor scene reconstruction and correction with vision

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