IMU-Aided 3D Reconstruction Based on Multiple Virtual Planes

Abstract

This paper proposes a novel approach for fast 3D reconstruction of an object inside a scene by using Inertial Measurement Unit (IMU) data. A network of cameras is used to observe the scene. For each camera within the network, a virtual camera is considered by using the concept of \emph{infinite homography}. Such a virtual camera is downward and has optical axis parallel to the gravity vector. Then a set of virtual horizontal 3D planes are considered for the aim of 3D reconstruction. The intersection of these virtual parallel 3D planes with the object is computed using the concept of homography and by applying a 2D Bayesian occupancy grid for each plane. The experimental results validate both feasibility and effectiveness of the proposed method.