Multimodal 3D Shape Reconstruction under Calibration Uncertainty Using Parametric Level Set Methods

Abstract

We consider the problem of 3D shape reconstruction from multimodal data, given uncertain calibration parameters. Typically, 3D data modalities can come in diverse forms such as sparse point sets, volumetric slices, and 2D photos. To jointly process these data modalities, we exploit a parametric level set method that utilizes ellipsoidal radial basis functions. This method not only allows us to analytically and compactly represent the object; it also confers on us the ability to overcome calibration-related noise that originates from inaccurate acquisition parameters. This essentially implicit regularization leads to a highly robust and scalable reconstruction, surpassing other traditional methods. In our results we first demonstrate the ability of the method to compactly represent complex objects. We then show that our reconstruction method is robust both to a small number of measurements and to noise in the acquisition parameters. Finally, we demonstrate our reconstruction abilities from diverse modalities such as volume slices obtained from liquid displacement (similar to CT scans and X-rays) and visual measurements obtained from shape silhouettes as well as point clouds.