Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous
Name
MIT-CSAIL-TR-2012-031.pdf
Size
6.21 MB
Format
Adobe PDF
Checksum (MD5)
bad57b9261ef128da4400e3ff26d8ea6
Author(s)
Whelan, Thomas
Johannsson, Hordur
Kaess, Michael
Leonard, John J.
McDonald, John
Advisor(s)
John Leonard
Date Issued
September 17, 2012
Series/Report no.
MIT-CSAIL-TR-2012-031
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.
Persistent DSpace Link
