Fig. 1. Diagram of system

Fig. 2. Depth image preprocessing. (a) Raw depth image; (b) shadow noise area; (c) ROI segmentation; (d) reliability mask

Fig. 3. Depth histogram

Fig. 4. Weight setting near depth edge. (a) σ₀ neighborhood range; (b) ω_m function curve

Fig. 5. TSDF variation η_TS. (a) Color image; (b)-(d) η_TS<γ_lη-TS, low pass filter parameter γ_l=0.6, 0.7, 0.8; (e)-(h) η_TS>γ_h

Fig. 6. Reference frame FIFO queue

Fig. 7. Model reparation experiment. (a) Model before reparation; (b) model after reparation; (c) experimental environment and setting; (d) peculiar object; (e) model detail before reparation; (f) model detail after reparation

Fig. 8. Models corresponding to different pose results. (a) Experimental setting; (b) KinectFusion; (c) SDF-tracker; (d) proposed method

Fig. 9. Comparison of reconstruction results 1. (a) Experimental environment and setting; (b)camera pose; (c) result obtained by algorithm Ⅰ; (d) result obtained by proposed method

Fig. 10. Comparison of reconstruction results 2. (a) Experimental environment and setting; (b)camera pose; (c)(d) result obtained by algorithm Ⅰ; (e)(f) result obtained by proposed method