Complete 3D model reconstruction using a depth sensor

We propose a fast and simple application system of 3D model reconstruction. We acquire range images by using a combination of a regular camera and a depth sensor. The reconstruction of a 3D model consists of four key steps: (i) Initial alignment either feature tracking or the 4-points congruent sets algorithm is used to align surfaces captured at different frames. (ii)The iterative closest point (ICP) method is applied to further align the piecewise surfaces from the last step. (iii) The surfaces are merged into a whole 3D model by the volumetric method. (iv) In the refinement step, we fill holes and produce a complete 3D model that approximates the original model with robust repair of polygonal models. At last, we present the experimental results which show that the errors between our reconstructed model and the ground truth are less than 1%.