Blurred LiDAR for Sharper 3D: Robust Handheld 3D Scanning with Diffuse LiDAR and RGB

Figure 1. Blurred LiDAR for Sharper 3D: We propose leveraging (a) the complementary strengths of RGB with a diffuse (blurred) Li-DAR for robust handheld scanning (b) on limited views in challenging low-texture, low-light, low-albedo scenes. Our method dynamically balances RGB and diffuse LiDAR sensor inputs to estimate (c) precise color, depth, and normals, from which we can (d) reconstruct accurate color-3D meshes. Our approach leveraging blurred LiDAR, counterintuitively, can (e) improve 3D reconstruction over conventional LiDAR, which uses sparse spot illumination.