Super-resolution Keyframe Fusion for 3D Modeling with High-Quality Textures

We propose a novel fast and robust method for obtaining 3D models with high-quality appearance using commodity RGB-D sensors. Our method uses a direct key frame-based SLAM front end to consistently estimate the camera motion during the scan. The aligned images are fused into a volumetric truncated signed distance function representation, from which we extract a mesh. For obtaining a high-quality appearance model, we additionally deblur the low-resolution RGB-D frames using filtering techniques and fuse them into super-resolution key frames. The meshes are textured from these sharp super-resolution key frames employing a texture mapping approach. In experiments, we demonstrate that our method achieves superior quality in appearance compared to other state-of-the-art approaches.