A fast and omni-directional 3D reconstruction system of objects

In Amazon Robotic Challenge, we need to make unknown object's 3d model for recognizing and estimating 6D pose in limited time. The paper presents a unique autonomous system to build object's complete 3d model fast. This method is different with others for it can build object's model contains object's bottom side. We modify ElasticFusion to focus on building object's 3D model from object's up-side with assistant pose information from Aruco Markers. Then instead of using ICP or other merge algorithms, we merge object's upside point cloud and bottom-side point cloud easily by using Aruco Markers on transparent board. At last, we use octree and source point cloud to color poisson reconstruction mesh model to obtain object's final complete colored 3d model. Experiment results show that our approach can generate common object's complete model with acceptable size error in limited time.