Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous
نویسندگان
چکیده
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.
منابع مشابه
Real-time dense appearance-based SLAM for RGB-D sensors
In this work a direct dense approach is proposed for real-time RGB-D localisation and tracking. The direct RDB-D localisation approach is demonstrated on a low cost sensor which exploits projective IR light within indoor environments. This type of device has recently been the object of much interest and one advantage is that it provides dense 3D environment maps in real-time via embedded comput...
متن کاملRobust Real-Time Registration of RGB-D Images using Multi-Resolution Surfel Representations
Fast and robust registration of 3D scans is required in many approaches to perception in robotics such as pose tracking or simultaneous localization and mapping. We propose a novel efficient method to register RGB-D images. We convert the image content into a multi-resolution surfel representation and exploit the dense image neighborhood to construct such views at high frame-rates on a single C...
متن کاملLive RGB-D camera tracking for television production studios
In this work, a real-time image-based camera tracker is designed for live television production studios. The major concern is to decrease camera tracking expenses by an affordable vision-based approach. First, a dense keyframe model of the static studio scene is generated using image-based dense tracking and bundle adjustment. Online camera tracking is then defined as registration problem betwe...
متن کاملRobust Keyframe-based Dense SLAM with an RGB-D Camera
In this paper, we present RKD-SLAM, a robust keyframe-based dense SLAM approach for an RGB-D camera that can robustly handle fast motion and dense loop closure, and run without time limitation in a moderate size scene. It not only can be used to scan high-quality 3D models, but also can satisfy the demand of VR and AR applications. First, we combine color and depth information to construct a ve...
متن کاملElasticFusion: Real-time dense SLAM and light source estimation
We present a novel approach to real-time dense visual SLAM. Our system is capable of capturing comprehensive dense globally consistent surfel-based maps of room scale environments and beyond explored using an RGB-D camera in an incremental online fashion, without pose graph optimisation or any post-processing steps. This is accomplished by using dense frame-tomodel camera tracking and windowed ...
متن کامل