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Real-time 3D reconstruction from RGB-D sensor data plays an important role inmany robotic applications, such as object modeling and mapping. The popularmethod of fusing depth information into a truncated signed distance function(TSDF) and applying the marching cubes algorithm for mesh extraction has severeissues with thin structures: not only does it lead to loss of accuracy, but itcan generate completely wrong surfaces. To address this, we propose thedirectional TSDF - a novel representation that stores opposite surfacesseparate from each other. The marching cubes algorithm is modified accordinglyto retrieve a coherent mesh representation. We further increase the accuracy byusing surface gradient-based ray casting for fusing new measurements. We showthat our method outperforms state-of-the-art TSDF reconstruction algorithms inmesh accuracy.

Directional TSDF: Modeling Surface Orientation for Coherent Meshes