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— This paper describes extensions to the Kintinu-ous [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 real-time(More)
The emergence of the Internet as a trusted medium for commerce and communication has made cryptography an essential component of modern information systems. Cryptography provides the mechanisms necessary to implement accountability, accuracy, and confidentiality in communication. As demands for secure communication bandwidth grow, efficient cryptographic(More)
The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Abstract We present a new SLAM system capable of producing high quality globally consistent surface reconstructions over hundreds of metres in real-time with only a low-cost commodity RGB-D sensor. By using a fused volumetric surface(More)
for the evaluation of visual odometry, 3D reconstruction and SLAM algorithms that typically use RGB-D data. We present a collection of handheld RGB-D camera sequences within synthetically generated environments. RGB-D sequences with perfect ground truth poses are provided as well as a ground truth surface model that enables a method of quantitatively(More)
The paper examines second stage DEA efficiency analyses, within the context of a censoring data generating process (DGP) and a fractional data DGP, when efficiency scores are treated as descriptive measures of the relative performance of units in the sample. It is argued that the efficiency scores are not generated by a censoring process but are fractional(More)
This paper describes a system for performing real-time multi-session visual mapping in large-scale environments. Multi-session mapping considers the problem of combining the results of multiple simultaneous localisation and mapping (SLAM) missions performed repeatedly over time in the same environment. The goal is to robustly combine multiple maps in a(More)
— Dense RGB-D based SLAM techniques and high-fidelity LIDAR scanners are examples from an abundant set of systems capable of providing multi-million point datasets. These large datasets quickly become difficult to process and work with due to the sheer volume of data, which typically contains significant redundant information, such as the representation of(More)