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Whelan, Thomas, Johannsson, Hordur, Kaess, Michael, 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: | https://mural.maynoothuniversity.ie/id/eprint/6501 |
| 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 |
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