Abstract
We present a method for reconstructing the geometry and appearance of indoor scenes containing dynamic human subjects using a single (optionally moving) RGBD sensor. We introduce a framework for building a representation of the articulated scene geometry as a set of piecewise rigid parts which are tracked and accumulated over time using moving voxel grids containing a signed distance representation. Data association of noisy depth measurements with body parts is achieved by online training of a prior shape model for the specific subject. A novel frame-to-frame model registration is introduced which combines iterative closest-point with additional correspondences from optical flow and prior pose constraints from noisy skeletal tracking data. We quantitatively evaluate the reconstruction and tracking performance of the approach using a synthetic animated scene. We demonstrate that the approach is capable of reconstructing mid-resolution surface models of people from low-resolution noisy data acquired from a consumer RGBD camera. © 2013 IEEE.