{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T04:26:22Z","timestamp":1750220782031,"version":"3.41.0"},"reference-count":58,"publisher":"Association for Computing Machinery (ACM)","issue":"5","license":[{"start":{"date-parts":[[2020,7,1]],"date-time":"2020-07-01T00:00:00Z","timestamp":1593561600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"Centre for Applied Computing and Interactive Media (ACIM) of School of Creative Media, City University of Hong Kong, and the Tsinghua-Tencent Joint Laboratory for Internet Innovation Technology"},{"name":"Joint NSFC-DFG Research Program","award":["61761136018"],"award-info":[{"award-number":["61761136018"]}]},{"DOI":"10.13039\/501100001809","name":"Natural Science Foundation of China","doi-asserted-by":"crossref","award":["61521002"],"award-info":[{"award-number":["61521002"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"name":"National Key Technology R8D Program","award":["2017YFB1002604"],"award-info":[{"award-number":["2017YFB1002604"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Graph."],"published-print":{"date-parts":[[2020,10,31]]},"abstract":"<jats:p>We present a two-stage approach to first constructing 3D panoramas and then stitching them for noise-resilient reconstruction of large-scale indoor scenes. Our approach requires multiple unsynchronized RGB-D cameras, mounted on a robot platform, which can perform in-place rotations at different locations in a scene. Such cameras rotate on a common (but unknown) axis, which provides a novel perspective for coping with unsynchronized cameras, without requiring sufficient overlap of their Field-of-View (FoV). Based on this key observation, we propose novel algorithms to track these cameras simultaneously. Furthermore, during the integration of raw frames onto an equirectangular panorama, we derive uncertainty estimates from multiple measurements assigned to the same pixels. This enables us to appropriately model the sensing noise and consider its influence, so as to achieve better noise resilience, and improve the geometric quality of each panorama and the accuracy of global inter-panorama registration. We evaluate and demonstrate the performance of our proposed method for enhancing the geometric quality of scene reconstruction from both real-world and synthetic scans.<\/jats:p>","DOI":"10.1145\/3389412","type":"journal-article","created":{"date-parts":[[2020,7,1]],"date-time":"2020-07-01T22:31:23Z","timestamp":1593642683000},"page":"1-15","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":15,"title":["Noise-Resilient Reconstruction of Panoramas and 3D Scenes Using Robot-Mounted Unsynchronized Commodity RGB-D Cameras"],"prefix":"10.1145","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8295-1552","authenticated-orcid":false,"given":"Sheng","family":"Yang","sequence":"first","affiliation":[{"name":"BNRist, Tsinghua University, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Beichen","family":"Li","sequence":"additional","affiliation":[{"name":"Massachusetts Institute of Technology, Cambridge, MA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yan-Pei","family":"Cao","sequence":"additional","affiliation":[{"name":"BNRist, Tsinghua University, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hongbo","family":"Fu","sequence":"additional","affiliation":[{"name":"City University of Hong Kong, Kowloon Tong, Hong Kong"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu-Kun","family":"Lai","sequence":"additional","affiliation":[{"name":"Cardiff University, Roath, Cardiff, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Leif","family":"Kobbelt","sequence":"additional","affiliation":[{"name":"RWTH Aachen University, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shi-Min","family":"Hu","sequence":"additional","affiliation":[{"name":"BNRist, Tsinghua University, Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2020,7]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.170"},{"key":"e_1_2_1_2_1","volume-title":"McKay","author":"Besl Paul J.","year":"1992","unstructured":"Paul J. Besl and Neil D . McKay . 1992 . A method for registration of 3-D shapes. In Sensor Fusion IV: Control Paradigms and Data Structures . 586--607. Paul J. Besl and Neil D. McKay. 1992. A method for registration of 3-D shapes. In Sensor Fusion IV: Control Paradigms and Data Structures. 586--607."},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2624754"},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1145\/3182157"},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/3DV.2017.00081"},{"key":"e_1_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2015.7299195"},{"key":"e_1_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.261"},{"key":"e_1_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1145\/3054739"},{"key":"e_1_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01240-3_43"},{"key":"e_1_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"e_1_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2009.5206867"},{"key":"e_1_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2014.2360403"},{"key":"e_1_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2010.939925"},{"volume-title":"IEEE International Conference on Robotics and Automation (ICRA). 1524--1531","author":"Handa A.","key":"e_1_2_1_14_1","unstructured":"A. Handa , T. Whelan , J. McDonald , and A. J. Davison . 2014. A benchmark for RGB-D visual odometry, 3D reconstruction and SLAM . In IEEE International Conference on Robotics and Automation (ICRA). 1524--1531 . A. Handa, T. Whelan, J. McDonald, and A. J. Davison. 2014. A benchmark for RGB-D visual odometry, 3D reconstruction and SLAM. In IEEE International Conference on Robotics and Automation (ICRA). 1524--1531."},{"key":"e_1_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/3DV.2014.77"},{"key":"e_1_2_1_16_1","volume-title":"Mask R-CNN. In IEEE International Conference on Computer Vision (ICCV). 2980--2988","author":"He Kaiming","year":"2017","unstructured":"Kaiming He , Georgia Gkioxari , Piotr Doll\u00e1r , and Ross Girshick . 2017 . Mask R-CNN. In IEEE International Conference on Computer Vision (ICCV). 2980--2988 . Kaiming He, Georgia Gkioxari, Piotr Doll\u00e1r, and Ross Girshick. 2017. Mask R-CNN. In IEEE International Conference on Computer Vision (ICCV). 2980--2988."},{"key":"e_1_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1145\/3130800.3130828"},{"key":"e_1_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/3197517.3201384"},{"key":"e_1_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/3DV.2016.18"},{"key":"e_1_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2015.156"},{"key":"e_1_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46487-9_10"},{"key":"e_1_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/TVCG.2015.2459891"},{"volume-title":"International Conference on 3D Vision. 1--8.","author":"Keller M.","key":"e_1_2_1_23_1","unstructured":"M. Keller , D. Lefloch , M. Lambers , S. Izadi , T. Weyrich , and A. Kolb . 2013. Real-time 3D reconstruction in dynamic scenes using point-based fusion . In International Conference on 3D Vision. 1--8. M. Keller, D. Lefloch, M. Lambers, S. Izadi, T. Weyrich, and A. Kolb. 2013. Real-time 3D reconstruction in dynamic scenes using point-based fusion. In International Conference on 3D Vision. 1--8."},{"key":"e_1_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2013.122"},{"key":"e_1_2_1_25_1","volume-title":"IEEE International Conference on Robotics and Automation (ICRA). 3607--3613","author":"K\u00fcmmerle Rainer","year":"2011","unstructured":"Rainer K\u00fcmmerle , Giorgio Grisetti , Hauke Strasdat , Kurt Konolige , and Wolfram Burgard . 2011 . G2O: A general framework for graph optimization . In IEEE International Conference on Robotics and Automation (ICRA). 3607--3613 . Rainer K\u00fcmmerle, Giorgio Grisetti, Hauke Strasdat, Kurt Konolige, and Wolfram Burgard. 2011. G2O: A general framework for graph optimization. In IEEE International Conference on Robotics and Automation (ICRA). 3607--3613."},{"key":"e_1_2_1_26_1","first-page":"1","article-title":"Robust loop closing over time","volume":"30","author":"Latif Yasir","year":"2013","unstructured":"Yasir Latif , Cesar Cadena , and Jos\u00e9 Neira . 2013 . Robust loop closing over time . In Robotics: Science and Systems. 30 : 1 -- 30 :8. Yasir Latif, Cesar Cadena, and Jos\u00e9 Neira. 2013. Robust loop closing over time. In Robotics: Science and Systems. 30:1--30:8.","journal-title":"Robotics: Science and Systems."},{"key":"e_1_2_1_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2017.2648803"},{"key":"e_1_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2011.248"},{"key":"e_1_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1111\/cgf.12286"},{"key":"e_1_2_1_30_1","unstructured":"Matterport Inc.2019. The Pro2 Camera. Retrieved from https:\/\/matterport.com\/.  Matterport Inc.2019. The Pro2 Camera. Retrieved from https:\/\/matterport.com\/."},{"key":"e_1_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2013.6629513"},{"key":"e_1_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2705103"},{"key":"e_1_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.cag.2014.07.005"},{"key":"e_1_2_1_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2011.6092378"},{"key":"e_1_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1145\/2508363.2508374"},{"volume-title":"IEEE Conference on Computer Vision and Pattern Recognition (CVPR). 534--541","author":"Oswald M. R.","key":"e_1_2_1_36_1","unstructured":"M. R. Oswald , E. T\u00f6ppe , and D. Cremers . 2012. Fast and globally optimal single view reconstruction of curved objects . In IEEE Conference on Computer Vision and Pattern Recognition (CVPR). 534--541 . M. R. Oswald, E. T\u00f6ppe, and D. Cremers. 2012. Fast and globally optimal single view reconstruction of curved objects. In IEEE Conference on Computer Vision and Pattern Recognition (CVPR). 534--541."},{"volume-title":"IEEE Conference on Computer Vision and Pattern Recognition (CVPR). 77--85","author":"Qi Charles R.","key":"e_1_2_1_37_1","unstructured":"Charles R. Qi , Hao Su , Kaichun Mo , and Leonidas J. Guibas . 2017. PointNet: Deep learning on point sets for 3D classification and segmentation . In IEEE Conference on Computer Vision and Pattern Recognition (CVPR). 77--85 . Charles R. Qi, Hao Su, Kaichun Mo, and Leonidas J. Guibas. 2017. PointNet: Deep learning on point sets for 3D classification and segmentation. In IEEE Conference on Computer Vision and Pattern Recognition (CVPR). 77--85."},{"key":"e_1_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11390-019-1928-6"},{"key":"e_1_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.1016\/0167-2789(92)90242-F"},{"volume-title":"International Conference on 3D Digital Imaging and Modeling. 145--152","author":"Rusinkiewicz S.","key":"e_1_2_1_40_1","unstructured":"S. Rusinkiewicz and M. Levoy . 2001. Efficient variants of the ICP algorithm . In International Conference on 3D Digital Imaging and Modeling. 145--152 . S. Rusinkiewicz and M. Levoy. 2001. Efficient variants of the ICP algorithm. In International Conference on 3D Digital Imaging and Modeling. 145--152."},{"key":"e_1_2_1_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980567"},{"volume-title":"IEEE International Conference on Robotics and Automation (ICRA). 3863--3870","author":"Schmuck P.","key":"e_1_2_1_42_1","unstructured":"P. Schmuck and M. Chli . 2017. Multi-UAV collaborative monocular SLAM . In IEEE International Conference on Robotics and Automation (ICRA). 3863--3870 . P. Schmuck and M. Chli. 2017. Multi-UAV collaborative monocular SLAM. In IEEE International Conference on Robotics and Automation (ICRA). 3863--3870."},{"key":"e_1_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46487-9_31"},{"key":"e_1_2_1_44_1","first-page":"1","article-title":"Generalized-ICP","volume":"21","author":"Segal Aleksandr","year":"2009","unstructured":"Aleksandr Segal , Dirk Haehnel , and Sebastian Thrun . 2009 . Generalized-ICP . In Robotics: Science and System. 21 : 1 -- 21 :8. Aleksandr Segal, Dirk Haehnel, and Sebastian Thrun. 2009. Generalized-ICP. In Robotics: Science and System. 21:1--21:8.","journal-title":"Robotics: Science and System."},{"key":"e_1_2_1_45_1","doi-asserted-by":"publisher","DOI":"10.1145\/1141911.1141964"},{"key":"e_1_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1561\/0600000009"},{"key":"e_1_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354271"},{"key":"e_1_2_1_48_1","first-page":"1","article-title":"Unsupervised intrinsic calibration of depth sensors via SLAM","volume":"27","author":"Teichman Alex","year":"2013","unstructured":"Alex Teichman , Stephen Miller , and Sebastian Thrun . 2013 . Unsupervised intrinsic calibration of depth sensors via SLAM . In Robotics: Science and System. 27 : 1 -- 27 :8. Alex Teichman, Stephen Miller, and Sebastian Thrun. 2013. Unsupervised intrinsic calibration of depth sensors via SLAM. In Robotics: Science and System. 27:1--27:8.","journal-title":"Robotics: Science and System."},{"volume-title":"IEEE International Conference on Computer Vision Workshops (ICCV Workshops). 1630--1637","author":"Weise T.","key":"e_1_2_1_49_1","unstructured":"T. Weise , T. Wismer , B. Leibe , and L. Van Gool . 2009. In-hand scanning with online loop closure . In IEEE International Conference on Computer Vision Workshops (ICCV Workshops). 1630--1637 . T. Weise, T. Wismer, B. Leibe, and L. Van Gool. 2009. In-hand scanning with online loop closure. In IEEE International Conference on Computer Vision Workshops (ICCV Workshops). 1630--1637."},{"key":"e_1_2_1_50_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914551008"},{"key":"e_1_2_1_51_1","first-page":"1","article-title":"ElasticFusion: Dense SLAM without a pose graph","volume":"1","author":"Whelan T.","year":"2015","unstructured":"T. Whelan , S. Leutenegger , R. F. Salas-Moreno , B. Glocker , and A. J. Davison . 2015 b. ElasticFusion: Dense SLAM without a pose graph . In Robotics: Science and Systems. 1 : 1 -- 1 :9. T. Whelan, S. Leutenegger, R. F. Salas-Moreno, B. Glocker, and A. J. Davison. 2015b. ElasticFusion: Dense SLAM without a pose graph. In Robotics: Science and Systems. 1:1--1:9.","journal-title":"Robotics: Science and Systems."},{"key":"e_1_2_1_52_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.156"},{"key":"e_1_2_1_53_1","unstructured":"S. Yang B. Li M. Liu Y. Lai L. Kobbelt and S. Hu. 2019. HeteroFusion: Dense scene reconstruction integrating multi-sensors. IEEE Transactions on Visualization and Computer Graphics (2019) Preprint. https:\/\/ieeexplore.ieee.org\/document\/8723521.  S. Yang B. Li M. Liu Y. Lai L. Kobbelt and S. Hu. 2019. HeteroFusion: Dense scene reconstruction integrating multi-sensors. IEEE Transactions on Visualization and Computer Graphics (2019) Preprint. https:\/\/ieeexplore.ieee.org\/document\/8723521."},{"key":"e_1_2_1_54_1","volume-title":"IEEE International Conference on Computer Vision (ICCV). IEEE, 1--8.","author":"Zach Christopher","year":"2007","unstructured":"Christopher Zach , Thomas Pock , and Horst Bischof . 2007 . A globally optimal algorithm for robust TV-L1 range image integration . In IEEE International Conference on Computer Vision (ICCV). IEEE, 1--8. Christopher Zach, Thomas Pock, and Horst Bischof. 2007. A globally optimal algorithm for robust TV-L1 range image integration. In IEEE International Conference on Computer Vision (ICCV). IEEE, 1--8."},{"key":"e_1_2_1_55_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2013.303"},{"key":"e_1_2_1_56_1","doi-asserted-by":"publisher","DOI":"10.1145\/2768821"},{"key":"e_1_2_1_57_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2013.65"},{"key":"e_1_2_1_58_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2018.2808766"}],"container-title":["ACM Transactions on Graphics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3389412","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3389412","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T22:41:31Z","timestamp":1750200091000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3389412"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,7]]},"references-count":58,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2020,10,31]]}},"alternative-id":["10.1145\/3389412"],"URL":"https:\/\/doi.org\/10.1145\/3389412","relation":{},"ISSN":["0730-0301","1557-7368"],"issn-type":[{"type":"print","value":"0730-0301"},{"type":"electronic","value":"1557-7368"}],"subject":[],"published":{"date-parts":[[2020,7]]},"assertion":[{"value":"2018-08-01","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2020-03-01","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2020-07-01","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}