A Heightmap Model for Efficient 3 D Reconstruction from Street-Level Video

This paper introduces a fast approach for automatic dense large scale 3D urban reconstruction from video. The presented system uses a novel multi-view depthmap fusion algorithm where the surface is represented by a heightmap. Whereas most other systems attempt to produce true 3D surfaces, our simplified model can be called a 2.5D representation. While this model seems to be a more natural fit to aerial and satellite data, we have found it to also be a powerful representation for ground-level reconstructions. It has the advantage of producing purely vertical facades, and it also yields a continuous surface without holes. Compared to more general 3D reconstruction methods, our algorithm is more efficient, uses less memory, and produces more compact models at the expense of losing some detail. Our GPU implementation can compute a 200 × 200 heightmap from 64 depthmaps in just 92 milliseconds. We demonstrate our system on a variety of challenging ground-level datasets including large buildings, residential houses, and store front facades obtaining clean, complete, compact, and visually pleasing 3D models.