Kinfu – an open source implementation of Kinect Fusion + case study: implementing a 3D scanner with PCL

With this project, we aim to explore solutions for the reconstruction of real objects by analyzing the state-of-the-art algorithm Kinect Fusion that allows real-time reconstruction and rendering of a real world scene and one implementation of it. We use the point clouds obtained from Kinect Fusion and the PCL libraries to create a 3D scanner application and show the results of our work. This document is divided in four parts: Part one introduces the Kinect Fusion algorithm with a detailed explanation of its inner workings. Part two introduces the Point Cloud Libraries (PCL) and KinFu, the implementation of the Kinect Fusion algorithm that is contained in PCL. In part three, the 3D scanner algorithm implemented using PCL is explained. In part four, example results obtained with the 3D scanner application are shown.