Depth reconstruction or acquisition with a 3-D camera results in
a video sequence where each pixel of a frame is annotated with
a depth value. We propose an approach to combine this depth
information into a 3-D model of the assumedly static scene.
For processing of video, we have to satisfy strong requirements on
computational and storage efficiency, incremental processing
and handling of uncertainty in the depth maps.
Our approach is based on an octree structure.
Cells are split until the topology of the scene
can be recovered uniquely. A signed-distance function to
the nearest surface is computed in the octree vertices. The
scene can then be reconstructed by extraction and triangulation
of an implicit surface. The depth uncertainty results in
boundary conditions for the implicit surface.
