Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous
This paper describes extensions to the Kintinuous 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...
| Main Authors: | , , , , |
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| Other Authors: | |
| Published: |
2012
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| Online Access: | http://hdl.handle.net/1721.1/73167 |
| _version_ | 1826215293038362624 |
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| author | Whelan, Thomas Johannsson, Hordur Kaess, Michael Leonard, John J. McDonald, John |
| author2 | John Leonard |
| author_facet | John Leonard Whelan, Thomas Johannsson, Hordur Kaess, Michael Leonard, John J. McDonald, John |
| author_sort | Whelan, Thomas |
| collection | MIT |
| description | This paper describes extensions to the Kintinuous 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 real-time 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. |
| first_indexed | 2024-09-23T16:22:19Z |
| id | mit-1721.1/73167 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T16:22:19Z |
| publishDate | 2012 |
| record_format | dspace |
| spelling | mit-1721.1/731672019-04-11T08:22:31Z Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous Whelan, Thomas Johannsson, Hordur Kaess, Michael Leonard, John J. McDonald, John John Leonard Marine Robotics This paper describes extensions to the Kintinuous 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 real-time 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. 2012-09-25T16:00:05Z 2012-09-25T16:00:05Z 2012-09-17 http://hdl.handle.net/1721.1/73167 MIT-CSAIL-TR-2012-031 8 p. application/pdf |
| spellingShingle | Whelan, Thomas Johannsson, Hordur Kaess, Michael Leonard, John J. McDonald, John Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous |
| title | Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous |
| title_full | Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous |
| title_fullStr | Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous |
| title_full_unstemmed | Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous |
| title_short | Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous |
| title_sort | robust tracking for real time dense rgb d mapping with kintinuous |
| url | http://hdl.handle.net/1721.1/73167 |
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