For each keyframe of 6DoF tracking, we perform a robust monocular depth estimation, with a multi-view semi-global matching method followed by a depth refinement post-processing. Unlike most existing state-of-the-art systems which produce only point cloud based 3D models online or surface mesh offline, we propose a novel online incremental mesh generation approach to achieve fast online dense surface mesh reconstruction to satisfy the demand of real-time AR applications. Using an embedded monocular camera, our system provides an online mesh generation capability on back end together with real-time 6DoF pose tracking on front end for users to achieve realistic AR effects and interactions on mobile phones.
We present a real-time monocular 3D reconstruction system on a mobile phone, called Mobile3DRecon.
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