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Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous

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dc.contributor.advisor John Leonard Whelan, Thomas en_US Johannsson, Hordur en_US Kaess, Michael en_US Leonard, John J. en_US McDonald, John en_US
dc.contributor.other Marine Robotics en 2012-09-25T16:00:05Z 2012-09-25T16:00:05Z 2012-09-17
dc.description.abstract This paper describes extensions to the Kintinuous algorithm for spatially extended KinectFusion, incorporating the following additions: (i) the integration of multiple 6DOF camera odometry estimation methods for robust tracking; (ii) a novel GPU-based implementation of an existing dense RGB-D visual odometry algorithm; (iii) advanced fused real-time surface coloring. These extensions are validated with extensive experimental results, both quantitative and qualitative, demonstrating the ability to build dense fully colored models of spatially extended environments for robotics and virtual reality applications while remaining robust against scenes with challenging sets of geometric and visual features. en_US
dc.format.extent 8 p. en_US
dc.relation.ispartofseries MIT-CSAIL-TR-2012-031
dc.title Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous en_US

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