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iHuman3D: Intelligent Human Body 3D Reconstruction using a Single Flying Camera

Aiming at autonomous, adaptive and real-time human body reconstruction technique, this paper presents iHuman3D: an intelligent human body 3D reconstruction system using a single aerial robot integrated with an RGB-D camera. Specifically, we propose a real-time and active view planning strategy based on a highly efficient ray casting algorithm in GPU and a novel information gain formulation directly in TSDF. We also propose the human body reconstruction module by revising the traditional volumetric fusion pipeline with a compactly-designed non-rigid deformation for slight motion of the human target. We unify both the active view planning and human body reconstruction in the same TSDF volume-based representation. Quantitative and qualitative experiments are conducted to validate that the proposed iHuman3D system effectively removes the constraint of extra manual labor, enabling real-time and autonomous reconstruction of human body.