Fast Surface Reconstruction with Supervoxels and Sharp Features

This paper proposes a fast surface reconstruction method by using supervoxels. The Point Cloud Data (PCD) acquired from depth sensors is divided into small volumes, and volumes containing sharp features are extracted after filtering isolated points. Then, the clustered supervoxels are used as input to generate triangle meshes of surface maps. No prior knowledge and color data are used in this method, so that the proposed method is suitable for both indoor and outdoor unknown environments. Experiments in large and noisy PCD show that the reconstruction method is reliable and fast.