ISMAR 2018
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Stuart Golodetz, Tommaso Cavallari, Nicholas A. Lord, Victor A. Prisacariu, David W. Murray, and Philip H. S. Torr. Live collaborative large-scale dense 3d reconstruction using consumer-grade hardware. In Adjunct Proceedings of the IEEE International Symposium for Mixed and Augmented Reality 2018 (To appear). 2018.


We present a real-time system for collaboratively reconstructing dense volumetric models of large 3D scenes. Capturing large scenes can take time, and risk tracking failure / transient changes to the scene as capture time / scale increase. To avoid these problems, we use multiple mobile agents, each equipped with visual-inertial camera tracking, to capture smaller, overlapping sub-scenes in parallel, and then join them into a complete scene on a central server using online RGB-D camera relocalisation. Using our system, an entire building can be reconstructed in under half an hour and at a far lower cost than was previously possible.