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About this paper
Margarita Grinvald, Federico Tombari, Roland Siegwart, Juan Nieto
TSDF++ represents dynamic scenes with a shared voxel grid that indexes per-object truncated signed distance function volumes. Each voxel tracks an active surface and, when present, one occluded surface, with confidence scores. In a synthetic ToyCar3 sequence using ground-truth segmentations, it retained an intact tabletop after two cars were removed, while standard TSDF showed two holes. This result does not establish robustness with imperfect segmentation.
Key insights
- Storing multiple observed object surfaces per voxel in a single global map volume allows for integrated data management and avoids redundant operations.
- Preserving occluded surface information is achieved by deactivating an object's layer in the global map while maintaining its dedicated TSDF volume, preventing data overwriting.
- Combining semantic and geometric segmentation improves object instance identification, crucial for accurate tracking and reconstruction in complex scenes.
Summary by alphaXiv.
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