Geometrical 3D reconstruction using real-time RGB-D cameras

A RGB-D image combines, for each pixel, the classical three color channels with a fourth channel providing depth information. Devices that produce RGB-D images in real time with a rather good resolution are currently available on the market. With this type of device, it is possible to acquire and to process, in real time, 3D textured information, paving the way for numerous applications in the field of computer imaging and vision. In this paper, we analyse the accuracy of a low cost system and we see how this kind of device and the RGB-D images it produces allow us to acquire 3D models of real objects. A first application is presented that combines multiple RGB-D images of a static scene, taken from different viewpoints, in order to reconstruct a complete 3D model of the scene. A second application combines on-the-fly RGB-D images coming from multiple devices, generating a 3D model where the problems of occlusions inherent in monocular observations are drastically reduced.