A GPU-accelerated 3D reconstruction system that generates dense point clouds and mesh surfaces in real-time from depth sensor data. Developed for autonomous drone infrastructure inspection applications.
Technical Implementation
- Real-time point cloud generation from Intel RealSense D435I depth streams
- CUDA-accelerated point cloud processing and filtering
- Voxel grid downsampling for efficient memory management
- Statistical outlier removal for noise reduction
- Poisson surface reconstruction for watertight mesh generation
- Integration with Isaac ROS on NVIDIA Jetson Orin
Performance Metrics
- Processing 640x480 depth frames at 30 FPS
- Point cloud density: 300K+ points per frame
- Mesh reconstruction in under 500ms
Applications
- Power line infrastructure inspection
- Autonomous navigation mapping
- Digital twin creation for industrial assets