Dense object modeling for 3-D map building using segment-based surface interpolation

This paper presents a method of dense 3-D object modeling based on surface interpolation with line segments. The proposed method first reconstructs edges from an image sequence, and then creates line segments by connecting edge points to cover the object surface. False segments are eliminated using visibility constraints. The method can reconstruct dense models since line segments can be created with plenty of edge points. We conducted experiments with objects in indoor environments and confirmed the effectiveness of the method