  This paper presents an extension to the KinectFusion algorithm which allows
creating simplified 3D models with high quality RGB textures. This is achieved
through (i) creating model textures using images from an HD RGB camera that is
calibrated with Kinect depth camera, (ii) using a modified scheme to update
model textures in an asymmetrical colour volume that contains a higher number
of voxels than that of the geometry volume, (iii) simplifying dense polygon
mesh model using quadric-based mesh decimation algorithm, and (iv) creating and
mapping 2D textures to every polygon in the output 3D model. The proposed
method is implemented in real-time by means of GPU parallel processing.
Visualization via ray casting of both geometry and colour volumes provides
users with a real-time feedback of the currently scanned 3D model. Experimental
results show that the proposed method is capable of keeping the model texture
quality even for a heavily decimated model and that, when reconstructing small
objects, photorealistic RGB textures can still be reconstructed.
