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    Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous : Computer Science and Artificial Intelligence Laboratory Technical Report MIT-CSAIL-TR-2012-031


    Whelan, Thomas and Johannsson, Hordur and Kaess, Michael and Leonard, John J. and McDonald, John (2012) Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous : Computer Science and Artificial Intelligence Laboratory Technical Report MIT-CSAIL-TR-2012-031. Technical Report. Massachusetts Institute of Technology.

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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: Monograph (Technical Report)
    Keywords: Robust Tracking; Real-Time Dense RGB-D Mapping; Kintinuous; algorithm; KinectFusion;
    Academic Unit: Faculty of Science and Engineering > Computer Science
    Item ID: 6501
    Depositing User: John McDonald
    Date Deposited: 28 Oct 2015 15:20
    Publisher: Massachusetts Institute of Technology
    URI:

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