Robust real-time visual odometry for dense RGB-D mapping

Robust real-time visual odometry for dense RGB-D mapping

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 vi...

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Bibliographic Details
Main Authors: Whelan, Thomas, Johannsson, Hordur, Kaess, Michael, McDonald, John, Leonard, John Joseph
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:en_US
Published: Institute of Electrical and Electronics Engineers (IEEE) 2015
Online Access:http://hdl.handle.net/1721.1/97552
https://orcid.org/0000-0002-8863-6550

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http://hdl.handle.net/1721.1/97552
https://orcid.org/0000-0002-8863-6550

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