A six-direction TSDF representation with directional marching cubes and gradient-based ray casting reconstructs thin and steep surfaces more accurately than standard TSDF fusion.
ElasticFusion: Real-time dense SLAM and light source estimation,
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Directional TSDF: Modeling Surface Orientation for Coherent Meshes
A six-direction TSDF representation with directional marching cubes and gradient-based ray casting reconstructs thin and steep surfaces more accurately than standard TSDF fusion.