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
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: |
|
| Use Licence: |
This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available
here |
Repository Staff Only(login required)
 |
Item control page |
Downloads per month over past year
Origin of downloads
Altmetric
Altmetric