[nobbis]

ARKit doesn’t use LiDAR for camera pose tracking.

TSDF memory isn’t an issue since Niessner et al. (2013).

[onedognight]

> ARKit doesn’t use LiDAR for camera pose tracking.

It doesn't by default, for power reasons, but it will in a pinch.

[nobbis]

Interesting - I’ve never observed it kicking in.

Would love to know in which circumstances it’s used. I assume you work for Apple to know this so understand if you can’t share more.

[fxtentacle]

> TSDF memory isn’t an issue since Niessner et al. (2013).

I would strongly disagree. This paper uses TSDF and runs into memory issues. And ATLAS is using TSDF and running into memory issues. So for practical applications, TSDF is still too memory hungry.

[nobbis]

Correlation != causation.

Try out our app, Metascan, to see an example of using TSDF with a multi-resolution GPU hashtable that only stores voxel data near surfaces. Or just skim the original voxel hashing paper from 2013 to understand the technique.

Storing voxel data in an array is a lot simpler. So if it’s not the focus of the research, then why would academics engineer something more complex?