AUTHOR=Mateo Carlos M. , Corrales Juan A. , Mezouar Youcef TITLE=Hierarchical, Dense and Dynamic 3D Reconstruction Based on VDB Data Structure for Robotic Manipulation Tasks JOURNAL=Frontiers in Robotics and AI VOLUME=7 YEAR=2021 URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2020.600387 DOI=10.3389/frobt.2020.600387 ISSN=2296-9144 ABSTRACT=

This paper presents a novel approach to implement hierarchical, dense and dynamic reconstruction of 3D objects based on the VDB (Variational Dynamic B + Trees) data structure for robotic applications. The scene reconstruction is done by the integration of depth-images using the Truncated Signed Distance Field (TSDF). The proposed reconstruction method is based on dynamic trees in order to provide similar reconstruction results to the current state-of-the-art methods (i.e., complete volumes, hashing voxels and hierarchical volumes) in terms of execution time but with a direct multi-level representation that remains real-time. This representation provides two major advantages: it is a hierarchical and unbounded space representation. The proposed method is optimally implemented to be used on a GPU architecture, exploiting the parallelism skills of this hardware. A series of experiments will be presented to prove the performance of this approach in a robot arm platform.