3D Construction of the Environment Using RGBD Camera Based on Structure from Motion and Truncated Signed Distance Function

With the advancement and popularization of robotics technique, an increasing number of researchers are exploring the use of depth cameras to achieve 3D scene reconstruction. In order to facilitate the implementation of 3D modeling through RGBD camera, this paper investigates the combination of Structure from Motion and Truncated Signed Distance Function techniques for robot navigation. By proposing a novel camera size recovery method, this work successfully reconstructs mesh models from RGBD camera-generated ROSBAG files.