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    Robust Real-Time Visual Odometry for Dense {RGB-D} Mapping


    Whelan, Thomas and Johannsson, Hordur and Kaess, Michael and Leonard, John J. and McDonald, John (2011) Robust Real-Time Visual Odometry for Dense {RGB-D} Mapping. In: IEEE International Conference on Robotics and Automation (ICRA), 2013. IEEE, pp. 5724-5731. ISBN 9781467356411

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    Abstract

    This paper describes extensions to the Kintinuous [1] 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 realtime 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.

    Item Type: Book Section
    Keywords: SLAM (robots); cameras; distance measurement; image colour analysis; robot vision;
    Academic Unit: Faculty of Science and Engineering > Computer Science
    Item ID: 6498
    Identification Number: https://doi.org/10.1109/ICRA.2013.6631400
    Depositing User: John McDonald
    Date Deposited: 22 Oct 2015 16:28
    Publisher: IEEE
    Refereed: Yes
    Funders: Science Foundation Ireland (SFI), Irish Research Council
    URI:

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