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Dense real-time tracking and mapping from RGB-D images is an important toolfor many robotic applications, such as navigation or grasping. The recentlypresented Directional Truncated Signed Distance Function (DTSDF) is anaugmentation of the regular TSDF and shows potential for more coherent maps andimproved tracking performance. In this work, we present methods for renderingdepth- and color maps from the DTSDF, making it a true drop-in replacement forthe regular TSDF in established trackers. We evaluate and show, that our methodincreases re-usability of mapped scenes. Furthermore, we add color integrationwhich notably improves color-correctness at adjacent surfaces.

Rendering and Tracking the Directional TSDF: Modeling Surface Orientation for Coherent Maps