We present a system to improve the robustness of real-time 3D surface reconstruction by utilizing non-inertial localization sensor. Benefiting from such sensor, our easy-to-build system can effectively avoid tracking drift and lost comparing with conventional dense tracking and mapping systems. To best fusing the sensor, we first adopt a hand-eye calibration and performance analysis for our setup and then propose a novel optimization framework based on adaptive criterion function to improve the robustness as well as accuracy. We apply our system to several challenging reconstruction tasks, which show significant improvement in scanning robustness and reconstruction quality.

Surface light field advances conventional light field rendering techniques by utilizing geometry information. Using surface light field, real-world objects with complex appearance could be faithfully represented. This capability could play an important role in many VR/AR applications. However, an accurate geometric model is needed for surface light field sampling and processing, which limits its wide usage since many objects of interests are difficult to reconstruct with their usually very complex appearances. We propose a novel two-step optimization framework to reduce the dependency of accurate geometry. The key insight is to treat surface light field sampling as a multi-view multi-texture optimization problem. Our approach can deal with both model inaccuracy and image to model misalignment, making it possible to create high-fidelity surface light field models without using high-precision special hardware.