Conference Publication Details
Mandatory Fields
Whelan T.;Johannsson H.;Kaess M.;Leonard J.;McDonald J.
Proceedings - IEEE International Conference on Robotics and Automation
Robust real-time visual odometry for dense RGB-D mapping
2013
November
Published
1
()
Optional Fields
5724
5731
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. © 2013 IEEE.
10.1109/ICRA.2013.6631400
Grant Details