This representation combines the reliable integration based on local geometric constraints achieved in previous work with the efficiency of an approximate volumetric representation. Implicit surface polygonisation is achieved using the Marching Triangles approach. Marching Triangles enables the reconstruction of an efficient surface representation based on the Deluanay triangulation. Performance characteristics of the implicit surface based geomometric fusion approach have been compared to previous approaches. For a particuar integration algorithm this defines inherent limitations on surface geometry and the relative computational complexity.
Results demonstrate improvements in both reliability and computational complexity.