Multi-View Reconstruction in-between Known Environments

We present a novel multi-view 3D reconstruction algorithm which unifies the advantages of several recent reconstruction approaches. Based on a known environment causing occlusions and on the cameras' pixel grid discretization, an irregular partitioning of the reconstruction space is chosen. Reconstruction artifacts are rejected by using plausibility checks based on additional information about the objects to be reconstructed. The binary occupancy decision is solely performed in reconstruction space instead of fusing back-projected silhouettes in image space. Hierarchical data structures are used to reconstruct the objects progressively focusing on boundary regions. Thus, the algorithm can be stopped at any time with a certain conservative level of detail. Most parts of the algorithm may be processed in parallel using GPU programming techniques. The main application domain is the surveillance of real environments like in human/robot coexistence and cooperation scenarios.