• Based on KinectFusion Algorithm[1]

• Pure GPU implementation ( Volume size up to 512 to the cube )

• Color Model Reconstruction

• Real-time model construction and rendering.

• Depth input filtering

• Truncated Signed Distance Field (TSDF) model representation

• Fast ICP[2] algorithm on GPU for surface alignment

• Raycast algorithm for model visualization

• Realtime user interaction with system

• Phong shading

System Work-Flow

Step 1:

After each new raw RGB-Depth map has been received from the Kinect sensor, the data is filtered to get rid of noise, then a normal-depth map is generated. At the same time, another normal-depth map is extracted from the TSDF volume for mapping. 

Step 2:

Given two RGB-Depth maps from Step1, the fast ICP algorithm computes the rigid transform matrix to align these normal-depth maps. Also by continuously multiplying this matrix with previous one, the system can keep track of the Kinect pose.

Step 3:

Since one RGB-Depth map is extracted from the TSDF, which represents the global model, then with the new RGB-Depth map along with the matrix from Step2,  the system can correctly update both the TSDF volume and the Color volume by incorporating the new measured surface.

Step 4:

After model updating, a ray-casting algorithm will sample both the TSDF and the Color volume to generate a Phong shaded image of the target model from the Kinect’s point of view

Implementation aspects

• Visual Studio 2013 

• DirectX 11 API

• DXUT framework

• HLSL  with C++

• Vertex Shader, Geometry Shader, Pixel Shader used for GPU implementation