InstanceFusion: Real-time Instance-level 3D Reconstruction Using a Single RGBD Camera

Feixiang Lu, Haotian Peng, Hongyu Wu, Jun Yang, Xinhang Yang, Ruizhi Cao, Liangjun Zhang, Ruigang Yang, Bin Zhou

Research output: Contribution to journalArticlepeer-review

5 Scopus citations


We present InstanceFusion, a robust real-time system to detect, segment, and reconstruct instance-level 3D objects of indoor scenes with a hand-held RGBD camera. It combines the strengths of deep learning and traditional SLAM techniques to produce visually compelling 3D semantic models. The key success comes from our novel segmentation scheme and the efficient instance-level data fusion, which are both implemented on GPU. Specifically, for each incoming RGBD frame, we take the advantages of the RGBD features, the 3D point cloud, and the reconstructed model to perform instance-level segmentation. The corresponding RGBD data along with the instance ID are then fused to the surfel-based models. In order to sufficiently store and update these data, we design and implement a new data structure using the OpenGL Shading Language. Experimental results show that our method advances the state-of-the-art (SOTA) methods in instance segmentation and data fusion by a big margin. In addition, our instance segmentation improves the precision of 3D reconstruction, especially in the loop closure. InstanceFusion system runs 20.5Hz on a consumer-level GPU, which supports a number of augmented reality (AR) applications (e.g., 3D model registration, virtual interaction, AR map) and robot applications (e.g., navigation, manipulation, grasping). To facilitate future research and reproduce our system more easily, the source code, data, and the trained model are released on Github:

Original languageEnglish
Pages (from-to)433-445
Number of pages13
JournalComputer Graphics Forum
Issue number7
StatePublished - Oct 2020

Bibliographical note

Publisher Copyright:
© 2020 The Author(s) Computer Graphics Forum © 2020 The Eurographics Association and John Wiley & Sons Ltd. Published by John Wiley & Sons Ltd.


  • CCS Concepts
  • Perception
  • Vision for robotics
  • • Computing methodologies → Scene understanding

ASJC Scopus subject areas

  • Computer Graphics and Computer-Aided Design


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