Figure1. Comparisonbetweendepth-based3Dreconstruction
methods and the proposed method. In depth-based methods,
key-frame depths are estimated separately from each key frame,
and later fused into a TSDF volume. In the proposed method, the
TSDF volume is directly predicted with all the key frames in a
local window. This design leads to a much more coherent recon-
struction and real-time speed.