Figure 1: Given an input RGB-D sequence, GO-Surf obtains a high quality 3D surface reconstruction by direct optimization of a multi-resolution feature grid and signed distance value and colour prediction. We formulate a new smoothness prior on the signed distance values that leads to improved hole filling and smoothness properties, while preserving details. Our optimization is ×60 times faster than MLP-based methods.

Figure 1. Comparison of surface normals (top) and RGB renderings (bottom) on "garden spheres" [37]. While the state-of-the-art methods Ref-NeRF [37], ENVIDR [18], and Neuralangelo [17] struggle to reconstruct reflective elements or fine geometric details, our method accurately models both, leading to high-quality mesh reconstructions of all parts of the scene. Best viewed when zoomed in.