Hybrid-MVS: Robust Multi-View Reconstruction With Hybrid Optimization of Visual and Depth Cues

Abstract

Consumer-level RGB-D cameras have been widely used for dense 3D reconstruction of scenes. Especially for textureless or non-lambertian surfaces, consumer RGB-D cameras can ensure completeness of the reconstructed models at a low cost. However, the reconstruction quality relies heavily on the accuracy of the depth sensors. Digital cameras are also used popularly for capturing high-resolution pictures to achieve high-quality dense reconstruction of the scenes, but cannot handle textureless or non-lambertian regions well due to the visual ambiguity problem. To ensure both completeness and accuracy of the reconstructed 3D models, we propose a hybrid multi-view reconstruction pipeline named Hybrid-MVS, which combines the high-resolution images taken by a digital camera and the low-resolution RGB-D frames captured by a consumer RGB-D camera for robust reconstruction of complicated scenes with challenging textureless and non-lambertian surfaces. Unlike most existing multi-sensor systems which require explicit hardware calibration and synchronization of various sensors, the calibration and synchronization problems between the digital camera and RGB-D camera are implicitly solved for compositing reliable depth prior of the digital images in our pipeline. Especially, we propose a hybrid MVS framework for robust PatchMatch stereo and Delaunay meshing, which tightly couples both visual cues given by the digital images and depth cues from the RGB-D frames to maximize the complementary advantages. The experiments with quantitative and qualitative evaluations demonstrate the effectiveness of the proposed Hybrid-MVS framework, which can successfully achieve high-quality 3D reconstruction of complicated natural scenes with robustness to weakly textured and non-lambertian areas.